husarion_ugv_battery

The package containing nodes monitoring and publishing the internal battery state of the Husarion UGV.

Launch Files

This package contains:

• battery.launch.py: Responsible for activating battery node, which dealing with reading and publishing battery data.

Configuration Files

• battery_parameters.yaml: Defines parameters for battery_driver_node.

ROS Nodes

battery_driver_node

Publishes battery state read from ADC unit.

Publishes

• _battery/battery_1_status_raw [sensor_msgs/BatteryState]: First battery raw state.
• _battery/battery_2_status_raw [sensor_msgs/BatteryState]: Second battery raw state. Published if second battery detected.
• battery/battery_status [sensor_msgs/BatteryState]: Mean values of both batteries if robot has two batteries. Otherwise, the state of the single battery will be published.
• battery/charging_status [husarion_ugv_msgs/ChargingStatus]: Battery charging status.
• diagnostics [diagnostic_msgs/DiagnosticArray]: Battery diagnostic messages.

Subscribers

• hardware/io_state [husarion_ugv_msgs/IOState]: Current state of IO.
• hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: Current motor controllers’ state and error flags. Subscribed if using Roboteq motor controllers data.

Parameters

• adc.device0 [string, default: /sys/bus/iio/devices/iio:device0]: ADC number 0 IIO device.
• adc.device1 [string, default: /sys/bus/iio/devices/iio:device1]: ADC number 1 IIO device.
• adc.ma_window_len.charge [int, default: 10]: Window length of a moving average, used to smooth out battery charge readings.
• adc.ma_window_len.temp [int, default: 10]: Window length of a moving average, used to smooth out battery temperature readings.
• battery_timeout [float, default: 1.0]: Specifies the timeout in seconds. If the node fails to read battery data exceeding this duration, the node will publish an unknown battery state.
• ma_window_len.voltage [int, default: 10]: Window length of a moving average, used to smooth out battery voltage readings.
• ma_window_len.current [int, default: 10]: Window length of a moving average, used to smooth out battery current readings.
• roboteq.driver_state_timeout [float, default: 0.2]: Specifies timeout in seconds after which driver state messages will be considered old (deprecated).

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_battery \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
• Contributors: kmakd

2.2.0 (2025-03-13)

• update docs and battery timeout (#500)
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
• Merge pull request #496 from husarion/repo-rename
• update links
• Merge branch 'ros2-devel' into lights-new
• Merge pull request #490 from husarion/ros2-fix-bild-warnings
• fix build warnings
• Ros2 unit test workflow (#471)
• Add log level argument to launch files (#473)
• Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
• Merge pull request #480 from husarion/ros2-cmake-export
• Add exports to cmake
• Parameters reorganisation (#472)
• Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
• Readme files minor fixes (#463)
• Merge pull request #466 from husarion/ros2-add-msgs
• Merge branch 'ros2-devel' into ros2-add-msgs
• Merge branch 'ros2-devel' into add-panther-diagnostics-config
• husarion_ugv_msg -> husarion_ugv_msgs
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-devel
• Add husarion_ugv_msgs
• Merge pull request #457 from husarion/ros2-lynx-devel
• Better battery estimation (#452)
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
• Merge pull request #448 from husarion/ros2-battery-warn
• change error to warn
• Merge pull request #438 from husarion/ros2-param-gen
• Generate node parameters from yaml files
• Ros2 husarion ugv v2 (#422)
• Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Milosz Lagan, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

• Merge branch 'ros2-devel' into ros2-lights-tests
• Contributors: pawelirh

2.1.1 (2024-09-05)

• LEDStrip plugin to Gazebo (#391)
• Merge branch 'ros2-devel' into ros2-ns-refactor
• Merge pull request #349 from husarion/ros2-testing-poc
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Merge pull request #386 from husarion/ros2-unify-filenames
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-unify-filenames
• Ros2 battery estimation (#376)
• Rename battery exec
• Rename battery driver files
• Reorganize files in panther_battery
• Ros2 estop sim gui (#384)
• Merge branch 'ros2-devel' into ros2-ns-refactor
• unify CMakeLists.txt files (#381)
• unify CMakeLists.txt files
• New format of documentation (#369)
• Contributors: BOOTCFG, Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Merge pull request #375 from husarion/hotfix-handle-can-timeout
• Update error checking in battery
• Rename CAN communication errors
• Merge pull request #366 from husarion/ros2-remove-battery-symlink
• Remove battery symlink
• Merge pull request #362 from husarion/ros2-api-reorganization
• Add adc/path parameter and fix unit tests
• Enhance ROS API names in the stack
• Update symlink names (#359)
• Add devices symlink (#347)
• Contributors: Dawid Kmak, Jakub Delicat, pawelirh

2.0.4 (2024-06-28)

• Ros2 battery charger topic (#353)
• Merge pull request #337 from husarion/ros2-gz-lights
• Suggestions and pre-commit update
• Merge branch 'ros2-devel' into ros2-gz-lights
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
• Merge branch 'ros2' into ros2-build-in-animation
• Merge branch 'ros2' into ros2-gz-lights
• Contributors: Dawid Kmak, Paweł Irzyk, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

• Merge pull request #320 from husarion/ros2-clear-logs
• Update panther_battery/src/battery_node.cpp
• Update panther_battery/src/battery_node.cpp
• MInor logging changes
• Minor log changes
• Exception changes in hardware_interfaces
• Revise panther_battery logs
• Contributors: Dawid Kmak, Paweł Irzyk, pawelirh

2.0.2 (2024-06-05)

• Merge pull request #319 from husarion/ros2-fix-battery-and-manager-tests
• Formatting
• Fixed tests
• Launch refactor (#307)
• Use weak_ptr to avoid circular dependency in panther_battery package (#310)
• Merge pull request #301 from husarion/ros2-manager-refactor
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Merge pull request #314 from husarion/ros2-logging
• Changed all RCLCPP logs to streams
• Changed loggers to stream
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• added diagnostics remapping and namespace to system_status (#306)
• added remappings to diagnostics
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Multi robot spawn working (#256)
• Merge branch 'ros2' into rename_package
• Merge pull request #299 from husarion/ros2-diagnose-charging-current
• Simplify structure in dual battery
• Shorten status diagnosis
• unify system_status_node cmake
• Add dummy parameter use to avoid compiler warning
• Provide separate measurements for both batteries
• Add load current
• Update unit tests
• Implement charging current diagnostics
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Paweł Irzyk, pawelirh, rafal-gorecki

2.0.1 (2024-05-01)

• Merge pull request #261 from husarion/ros2-readme
• Pawel sugestions
• Merge branch 'ros2-devel' into ros2-readme
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-os-diagnostics
• Add controller readme
• Contributors: Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.0 (2024-03-29)

• Ros2 namespace (#255)
  • Preparation for namespace
  • Simulation working
  • Hardware look ok

  * Update panther_controller/config/WH01_controller.yaml Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>> * Apply Jakub suggestions Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>>

  • Fix imu
  • Readme
  • Add imu namespace
  • Jakub suggestions
  • Add panther manager to xml
  • pre-commit
  • Fixed ekf
  • Additional remapping
  • fix imu
  • Pawel suggestions (collision with gamepad)
  • cmd_vel

  * Use namespace instead of PushRosNamespace ---------Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>> Co-authored-by: Jakub Delicat <<jakub.delicat@husarion.com>>

• Merge pull request #257 from husarion/ros2-headers Divide Headers into std and local liblaries
• Group and order improvement
• Rest of fils
• Headers + Copyright
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager
• fix qos (#250)
• Merge branch 'ros2-devel' into ros2-ekf-optimalization
• Merge branch 'ros2-devel' into ros2-lights-tests
• Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins
• Merge pull request #245 from husarion/ros2-fix-roboteq-battery ROS 2 - Fix Roboteq Battery
• fix header stamp and qos
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller
• Merge pull request #208 from husarion/ros2-control Add ROS 2 control
• Merge branch 'ros2-devel' into ros2-control Conflicts: panther_gpiod/CMakeLists.txt panther_gpiod/package.xml panther_gpiod/src/gpio_driver.cpp
• Update readme in battery and lights after diagnostics changes (#230)
  • Update readme in battery and lights after diagnostics changes

  * Update panther_lights/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> ---------Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

• Ros2 code style fixes (#215)
  • Fix style of cstdint usage in battery
  • Fix style of cstdint usage in lights
  • Unify handling exceptions
  • Fix formatting
• Ros2 diagnostics (#224)
  • Implement diagnostics in panther_battery
  • Correct class diagnostic updater member name
  • Order panther battery dependencies
  • Add diagnostics to panther lights
  • Minor diagnostics changes
  • Improve messages and add broadcasting in lights
  • Add broadcasting in battery node
  • Add additional diagnostic in battery
  • Change pointers policy
  • Review changes
  • Restore LogError
• Merge branch 'ros2-devel' into ros2-add-mecanum-controller
• Merge pull request #228 from husarion/ros2-update-utils Move ros test utils to separate file and add ExpectThrowWithDescription
• move ros test utils to separate file and add ExpectThrowWithDescription
• Merge branch 'ros2-control' into ros2-control-pdo-commands Conflicts: panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/roboteq_driver.cpp
• Merge branch 'ros2-devel' into ros2-control Conflicts: panther_bringup/launch/bringup.launch.py
• Update roboteq battery after changes in msg
• Merge pull request #209 from husarion/ros2-battery-fix-merge fix branch merge error
• Make handling exceptions unified
• Merge branch 'ros2-devel' into ros2-control Conflicts: .clang-format README.md panther_controller/CMakeLists.txt panther_controller/launch/controller.launch.py panther_controller/package.xml panther_description/CMakeLists.txt panther_description/config/WH01.yaml panther_description/config/WH02.yaml panther_description/config/WH04.yaml panther_description/meshes/WH01/fl_wheel.dae panther_description/meshes/WH01/fr_wheel.dae panther_description/meshes/WH01/rl_wheel.dae panther_description/meshes/WH01/rr_wheel.dae panther_description/meshes/WH02/fl_wheel.dae panther_description/meshes/WH02/fr_wheel.dae panther_description/meshes/WH02/rl_wheel.dae panther_description/meshes/WH02/rr_wheel.dae panther_description/meshes/WH04/fl_wheel.dae panther_description/meshes/WH04/fr_wheel.dae panther_description/meshes/WH04/rl_wheel.dae panther_description/meshes/WH04/rr_wheel.dae panther_description/meshes/body.dae panther_description/meshes/components/external_antenna.dae panther_description/package.xml panther_description/rviz/panther.rviz panther_description/urdf/body.urdf.xacro panther_description/urdf/components/external_antenna.urdf.xacro panther_description/urdf/panther.urdf.xacro panther_description/urdf/panther_macro.urdf.xacro panther_description/urdf/wheel.urdf.xacro
• fix branch merge error
• ROS 2 add Roboteq Battery (#206)
  • add adc data reader
  • add adc node and tests
  • update nodes and tests
  • add readings timeout
  • update tests
  • data reader fixes

  * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • add adc to battery converter
  • battery class
  • battery params
  • fix republisher node
  • update adc node
  • update tests
  • update adc_node test
  • small fixes and formating
  • update headers and create battery.cpp
  • use shared ptr for adc readers

  * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/adc_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/adc_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_node.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • fix
  • update adc node
  • update tests
  • update tests
  • reorganize tests
  • update adc_data_reader
  • add battery_publisher class
  • clean up battery class
  • separate headers for bat publishers
  • add adc_battery subclass
  • update battery publisher
  • fix ADCBattery
  • fix error logging
  • add battery tests
  • add battery_publisher test
  • add single and dual battery publisher tests

  * Update panther_battery/src/adc_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • formating and small fixes
  • update readme

  * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • add MergeBatteryPowerSupplyHealth method
  • code formatting
  • fix bat params order
  • review fixes
  • update test_utils and add test for it
  • update tests
  • remove unnecessary try catch
  • add roboteq battery and battery node
  • add roboteq battery tests
  • validate driver state in roboteq_battery
  • update includes
  • ROS 2 adc node refactor (#202)
  • update adc_data_reader
  • add battery_publisher class
  • clean up battery class
  • separate headers for bat publishers
  • add adc_battery subclass
  • update battery publisher
  • fix ADCBattery
  • fix error logging
  • add battery tests
  • add battery_publisher test
  • add single and dual battery publisher tests

  * Update panther_battery/src/adc_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • formating and small fixes
  • update readme

  * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • add MergeBatteryPowerSupplyHealth method
  • code formatting
  • fix bat params order
  • review fixes
  • update test_utils and add test for it
  • update tests
  • remove unnecessary try catch
  • update battery virtual methods
  • review fixes
  • small fix
  • fixes again

  * change MergeBatteryPowerSupplyStatus logic ---------Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • update CmakeLists
  • update README
  • remove unnecessary files
  • formatting
  • add copyright
  • update authors

  * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • add unused param comments
  • review fixes

  * fix formatting ---------Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

• Add pre-commit, clang-format and license to files (#207) Add pre-commit, clang-format and license to files
• ROS 2 adc node (#135)
  • add adc data reader
  • add adc node and tests
  • update nodes and tests
  • add readings timeout
  • update tests
  • data reader fixes

  * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/README.md Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • add adc to battery converter
  • battery class
  • battery params
  • fix republisher node
  • update adc node
  • update tests
  • update adc_node test
  • small fixes and formating
  • update headers and create battery.cpp
  • use shared ptr for adc readers

  * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/battery.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/adc_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/adc_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_node.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • fix
  • update adc node
  • update tests
  • update tests
  • reorganize tests
  • ROS 2 adc node refactor (#202)
  • update adc_data_reader
  • add battery_publisher class
  • clean up battery class
  • separate headers for bat publishers
  • add adc_battery subclass
  • update battery publisher
  • fix ADCBattery
  • fix error logging
  • add battery tests
  • add battery_publisher test
  • add single and dual battery publisher tests

  * Update panther_battery/src/adc_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • formating and small fixes
  • update readme

  * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/src/battery_publisher.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/include/panther_battery/adc_data_reader.hpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • add MergeBatteryPowerSupplyHealth method
  • code formatting
  • fix bat params order
  • review fixes
  • update test_utils and add test for it
  • update tests
  • remove unnecessary try catch
  • update battery virtual methods
  • review fixes
  • small fix
  • fixes again

  * change MergeBatteryPowerSupplyStatus logic ---------Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> ---------Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

• review fixes
• review fixes
• Fix battery type from li-pol to li-ion (#138)
• Baterry capacity unmeasured to nan (#136)
  • Baterry capacity unmeasured to nan
  • Update tests
  • Remove bat_capacity_ param
• fix current for roboteq republisher (#133)
• ROS 2 panther battery package (#128)
  • add panther_battery package
  • update roboteq_republisher_node
  • small fixes
  • add moving average
  • small fixes
  • update launch
  • add republisher test
  • update tests
  • add test utils
  • small fixes

  * Update panther_battery/test/test_roboteq_republisher_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/test/test_roboteq_republisher_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/test/test_roboteq_republisher_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/test/test_roboteq_republisher_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_battery/test/test_roboteq_republisher_node.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • update tests
  • another test update
  • review fixes
  • add README

  * small fixes ---------Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki