sl-jetson
ea26cda76a
Add battery_node.py: - Subscribes /saltybot/telemetry/battery (JSON from stm32_cmd_node) - Publishes sensor_msgs/BatteryState on /saltybot/battery at 1 Hz - SoC source priority: STM32 fuel gauge soc_pct field → fallback to 3S LiPo voltage curve (12-point lookup with linear interpolation) - Charging detection: current_ma < -100 mA threshold - Alert levels: WARNING (20%)→speed 60%, CRITICAL (10%)→speed 30%, EMERGENCY (5%)→zero /cmd_vel + /saltybot/arm(False) disarm - /saltybot/battery/alert JSON topic on threshold crossings - /saltybot/speed_limit Float32 (0.0-1.0) for nav speed capping - SQLite history logging: /var/log/saltybot/battery.db, 7-day retention - Hourly prune timer to keep DB bounded Add test_battery.py (70+ tests, no ROS2 runtime): - SoC lookup: all curve points, interpolation, clamping, 3S/4S packs - Alert level thresholds and transitions for all levels - Speed factor assignments per alert level - Charging detection logic - sensor_msgs/BatteryState field population - SQLite insert/retrieve/prune (in-memory and on-disk) - JSON telemetry parsing: normal, charging, soc_pct=0 fallback Add battery_params.yaml, battery.launch.py. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
25 lines
1.9 KiB
YAML
25 lines
1.9 KiB
YAML
# battery_params.yaml — Battery management node configuration (Issue #125)
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# ── SQLite history ─────────────────────────────────────────────────────────────
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db_path: /var/log/saltybot/battery.db
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history_retention_days: 7 # delete records older than N days
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# ── Battery pack ──────────────────────────────────────────────────────────────
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cell_count: 3 # 3S LiPo (11.1V nominal, 12.6V full)
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# ── SoC alert thresholds ──────────────────────────────────────────────────────
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warn_pct: 20.0 # WARNING: reduce speed to warn_speed_factor
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critical_pct: 10.0 # CRITICAL: reduce speed to critical_speed_factor
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emergency_pct: 5.0 # EMERGENCY: full stop + disarm
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# ── Speed reduction factors (0.0 = stop, 1.0 = no reduction) ─────────────────
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warn_speed_factor: 0.6 # 60% of normal speed at WARNING
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critical_speed_factor: 0.3 # 30% of normal speed at CRITICAL
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# ── Charging detection ────────────────────────────────────────────────────────
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# current_ma below this value → charging detected
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charge_detect_ma: -100 # -100 mA threshold (small negative allowed for noise)
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# ── Publish rate ──────────────────────────────────────────────────────────────
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publish_rate_hz: 1.0 # /saltybot/battery publish frequency
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