# anaxinbattery-ros

**Repository Path**: moveit/anaxinbattery-ros

## Basic Information

- **Project Name**: anaxinbattery-ros
- **Description**: 实现智能电池数据包读取电流电压电量并发布sensor_msgs::BatteryState到ROS消息系统
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2024-10-17
- **Last Updated**: 2024-10-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# anaxinbattery-ros

#### 介绍
实现智能电池数据包读取电流电压电量并发布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: ''
---