canopen_inventus

Implementation of a BMS driver for the Inventus battery using the ros2_canopen library.

Configuration

If an EDS file is available, follow the Configuration Package instructions in the ros2_canopen tutorials to setup a configuration package for your system. In the bus configuration, use this package’s driver.

For example, the following bus.yml configuration can be used to launch a two battery system:

options:
  dcf_path: '@BUS_CONFIG_PATH@'

master:
  node_id: 1
  driver: 'ros2_canopen::MasterDriver'
  package: 'canopen_master_driver'
  baudrate: 250

battery_0:
  node_id: 49
  is_master: true # Battery reporting Virtual Battery PDOs
  dcf: &dcf inventus.eds
  driver: &driver ros2_canopen::InventusDriver
  package: &package canopen_inventus_driver
  sdo_timeout_ms: &sdo_timeout_ms 100 # Timeout on SDO
  period: &period 100 # Read PDO and SDO period
  publish_ms: &publish_ms 100 # Publish ROS messages period

battery_1:
  node_id: 50
  is_master: false
  dcf: *dcf
  driver: *driver
  package: *package
  sdo_timeout_ms: *sdo_timeout_ms
  period: *period
  publish_ms: *publish_ms

Parameters:

• dcf: The EDS file must be under the same configuration directory as the bus.yml.
• period: The period at which PDOs and SDOs are read. Note, only one SDO is read per period.
• publish_ms: The rate at which topics are published.
• is_master: The master battery aggregates data from the other batteries in the system and publishes a Virtual Battery message that averages data from the entire system.

Topics

Each battery publishes a sensor_msgs/BatteryState (e.g. battery_0/state) and canopen_inventus_interfaces/Status (e.g. battery_0/status) topic. The master battery will publish a sensor_msgs/BatteryState and canopen_inventus_interfaces/VirtualBattery topic to non-node namespaced topic: state and status.