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pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

This is an interface to the Ocean Server Technology Intelligent Battery and Power System.

• Author: Tully Foote, Curt Meyers
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_power_drivers/trunk/ocean_battery_driver

Associated Hardware

• Ocean Server: http://www.ocean-server.com/overview.html

• IBPS specific documentation IBPS Protocol

• The Smart Battery Standard sbdat110.pdf

Nodes

ocean_server

ocean_server controls an array of battery controllers. The API below is for informational purposes only; it is not intended for use by anything other than power_monitor, which is where you should look for power data.

The ocean_server node will report the status of the batteries to diagnostics. It will warn on the diagnostics if a battery does not update within a timeout.

Advertised topics

/diagnostics (diagnostics_msgs/DiagnosticArray)

• Diagnostic information

/battery/server2 (pr2_msgs/BatteryServer2)

• Battery data

/battery/server (pr2_msgs/BatteryServer)

• Battery data (DEPRECATED)

Parameters

~number_of_ports (int, default: if no value specified on command-line, 4)

• Number of ports to monitor

~debug_level (int, default: if no value specified on command-line, 0)

• Debug level

~port<ID> (string, default: "/dev/ttyUSB<ID>")

• Which device file is associated with the battery on port <ID>

~lag_timeout (int, default: 60)

• Maximum time between battery messages before a battery reports a warning. Set to <0 to disable

~stale_timeout (int, default: 120)

• Maximum time between battery messages before a battery reports an error. Set to <0 to disable