Internal temperature regulation module

Description

This module is used to detect the overall temperature of the robot and control the internal cooling fan to prevent system crashes due to excessive temperatures.

It provides a Topic for the robot’s weighted temperature and a Service for controlling the fan’s airflow.

Preparation

Run temperature controller：

ros2 run temperature_controller temperature_controller_node
or
ros2 launch temperature_controller temperature_controller.launch.py

Usage

ros2 service call /system/temperature/fan_mode_set tita_system_interfaces/srv/FanModeSetSrv "{fan_mode: {data: 0x01}}"

Setting data to 0 will engage the automatic gear, which will adjust the fan speed based on the robot’s temperature.

Setting data to 1 turns off the fan, while setting data to 2 through 5 will progressively increase the fan speed in increments.

Basic Information

Installation method	Supported platform[s]
Source	Jetpack 6.0 , ros-humble

Published

ROS Topic	Interface	Frame ID	Description
system/temperature/temperature_controller	sensor_msgs::msg::Temperature	/weighted_temperature_info	Publish the comprehensive weighted temperature of the robot at 1Hz.

Service

Service Topic	Call Interface	Return Interface	Description
system/temperature/fan_mode_set	std_msgs::msg::Byte	std_msgs::msg::Bool	one case of service