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 \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.3.0 (2025-05-19)

• Revert "Update changelog"
• Revert "2.3.0"
• Revert "2.3.0"
• Revert "Update changelog"
• Reapply "Release 2.3.0 to ros2"
• Merge branch 'ros2' of https://github.com/husarion/husarion_ugv_ros into rel-test
• Merge pull request #550 from husarion/release-2.3.0
• 2.3.0
• Update changelog
• Merge pull request #549 from husarion/revert-546-release-2.3.0
• Revert "Release 2.3.0"
• Merge pull request #548 from husarion/revert-547-2.3.0-20250425
• Revert "Release 2.3.0 to ros2"
• Merge pull request #547 from husarion/2.3.0-20250425
• Merge pull request #546 from husarion/release-2.3.0
• 2.3.0
• Update changelog
• fix charging status charging detection (#542)
• Merge remote-tracking branch 'origin/ros2-devel' into change-pat
• Merge pull request #518 from husarion/jazzy-devel-hw
• Merge branch 'ros2-devel' into jazzy-devel-hw
• Update minimal cmake version
• Merge branch 'jazzy-devel-sim' into jazzy-devel-hw
• Merge branch 'ros2-devel' into jazzy-devel-sim
• Merge branch 'jazzy-devel-sim' into jazzy-devel-hw
• Merge branch 'ros2-devel' into jazzy-devel-sim
• Contributors: Dawid Kmak, action-bot, github-actions[bot], kmakd, rafal-gorecki, rafal.gorecki

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

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