Battery System

Description

This module is responsible for reading power supply data from the system, defining and implementing various power supply events and interfaces, and publishing them as ROS2 messages into the system.

The battery device module implements the “battery data topic” and the “power management command service”. Users can subscribe to the battery information topic to enhance the business logic of their own programs.

Not recommendedusers making any requests to the power management command service，because the power management command service is designed to respond to requests from other internal modules of the TITA robot, it is not intended to serve as a user interface.

Print battery device data：

ros2 topic echo /your_tita_name/system/batteries/left
or
ros2 topic echo /your_tita_name/system/batteries/right

Where your_tita_name refers to the specific naming of the robot device, for example, tita1234567.

Published

ROS Topic	Interface	Frame ID	Description
`../system/batteries/left`	`sensor_msgs::msg::BatteryState`	left_battery_info	left battery data 5Hz
`../system/batteries/right`	`sensor_msgs::msg::BatteryState`	right_battery_info	right battery data 5Hz
`../system/battery_diagnostic/left`	`diagnostic_msgs::msg::DiagnosticArray`	left_battery_diagnostic_info	left battery diagnostic data 5Hz
`../system/battery_diagnostic/right`	`diagnostic_msgs::msg::DiagnosticArray`	right_battery_diagnostic_info	right battery diagnostic data 5hz