anaxinbattery-ros

git源码地址anaxinbattery-ros: 实现智能电池数据包读取解析并发布sensor_msgs::BatteryState到ROS消息系统

介绍

实现智能电池数据包读取解析并发布sensor_msgs::BatteryState到ROS消息系统

软件架构

支持ROS1,包括kinetic、melodic、noetic

安装教程

创建工作空间，将源码git到src目录并编译安装

使用说明

1. 使用USB转串口工具连接电池

2. 检查串口名称是否为"/dev/ttyUSB0"，如果不是，需要修改serial.cpp文件serialport_init函数 int serialport_init() { serial_fd=drv_uart_init("/dev/ttyUSB0", 115200, NONE_PARITY); return serial_fd; }

3. 启动程序 source install/setup.bash 运行roscore 执行rosrun anaxinbattery anaxinbattery_node

4. 订阅查看 /battery消息rostopic echo /battery

---

header: seq: 2988 stamp: secs: 0 nsecs: 0 frame_id: '' voltage: 46.1429977417 current: 0.0 charge: 0.0 capacity: 0.0 design_capacity: 16000.0 percentage: 0.460000008345 power_supply_status: 0 power_supply_health: 0 power_supply_technology: 0 present: False cell_voltage: [3.8469998836517334, 3.8529999256134033, 3.8429999351501465, 3.8459999561309814, 3.8429999351501465, 3.8469998836517334, 3.8429999351501465, 3.8399999141693115, 3.8469998836517334, 3.8410000801086426, 3.8469998836517334, 3.8459999561309814] location: '' serial_number: ''