power_tools

Message definitions and hardware drivers for power supply devices using ROS

While this code is freely licensed (2-clause BSD), I do ask that you send me an email if possible so I can see who is using this software.

Repository structure

You will need to clone this repository inside the src/ directory of an existing Catkin workspace.

Please note that this software is structured for ROS Groovy+, and is incompatible with ROS Fuerte and earlier.

This repository is structured around 3 core packages:

1. power_msgs - Message and serive definitions for power devices. The PowerState message is designed to be suitable for all types of power devices, ranging from DC-DC converters to automotive power supplies to even laptop batteries.

2. dcdc_driver - This package provides a ROS driver for the Mini-Box DCDC programable dc-dc converter.

3. dbus_power_monitor - This package provides a monitor for the UPower daemon, which provides the "standard" interface to system power state on Linux desktop systems. For example, this allows a robot using a laptop to monitor the state of the laptop's battery(s).

Stability and development status

power_msgs - This package is currently stable. Additional fields in the PowerState message are not currently planned. Additional services may be defined, but they will not break compatibility with the current interface.

dcdc_driver - Currently stable, although better error recovery will be added in the near future. Output voltage control will also be added in the comming months.

dbus_power_monitor - Currently stable, will be updated to maintain compatibility with dbus and UPower daemon as needed.

Depencies

1. Full ROS Groovy installation - on Ubuntu systems: $ sudo apt-get install ros-groovy-desktop-full

Build and usage instructions

First, clone this repository:

$ cd /your/catkin/workspace/src
$ git clone https://github.com/calderpg/power_tools.git
$ rospack profile

To build all packages in this repository:

(in the surrounding Catkin workspace directory)
$ catkin_make

To build a particular package in the repository:

(in the surrounding Catkin workspace directory)
$ catkin_make --pkg <package name>

To use, you must source the workspace:

(in the surrounding Catkin workspace directory)
$ source devel/setup.bash