Battery

This module republishes the battery state collected at 1 Hz from rm:robomaster.battery.Battery.sub_battery_info() to ROS topic battery. We patched the SDK callback to expose voltage, current, and temperature.

LiPo battery has a nominal capacity of 2.4 Ah (25.92 Wh) and nominal voltage of 10.8 V.

Note

To expose the battery state on the gimbal (when available), run executable display_battery.

Parameters

parameter battery.enabled bool [Default: false]

Enable battery, which by default is disabled, like for all other modules.

Publishers

publisher battery sensor_msgs/msg/BatteryState

Regularly publishes the current battery state. Current charge and capacity are unknown and set to -1.