R1 S/N:003 – BATTERY STATUS NOT PUBLISHED

[fincatomarta]

Robot Name 🤖

R1 S/N:003

Request/Failure description

Now that R1 has the battery, if we try to read from the yarp port which is supposed to publish the battery status, we get nan value.

Detailed context

Now that R1 has the battery, if we try to read from the yarp port which is supposed to publish the battery status, we get nan value.

Additional context

No response

How does it affect you?

Battery status is very important to monitor for different projects we have been working on.

[randaz81]

@AntonioConsilvio could you clarify which are the cable connections that allow the software to read the battery charge? I mean: we have a battery, then we have a cable which goes from the battery to board xxx, then etc. etc...
I suspect that something is not properly connected, since this measure was previously avialble.
It's important to fix this issue asap, since we have a robot demonstration at the end of the month involving battery charge estimation!

[MSECode]

Hi,
regarding the battery status we should check if connection and configurations are fine as follows:

• first of all, the battery status for R1 can be seen only from BAT board data, because the BMS that controls the battery cannot send data over CAN, or the data sent do not follow icub standard (I suppose it is a third party bms and so data sent cannot be read by the EMS baord)
• then, regarding the connection, from the Logic we should match the following situation:
  EMS CAN LINE IS CAN2:2 (first 2 is the CAN line, second is mandatory because our CAN protocol recognize BAT on address 2)

J4 connector on the BAT should be connected to EMS

• regarding the configuration. If the current configuration is this one: https://github.com/robotology/robots-configuration/blob/master/R1SN003/hardware/battery/r1battery.xml
  you should update it accordingly. In particular:
  • fw version ( you can check it when screen boots, or set 0.0.0 for a first attempt)
  • location should be CAN2:2
  • you can check ergoCub bat conf file as comparison: https://github.com/robotology/robots-configuration/blob/master/ergoCubSN003/hardware/battery/battery_bat.xml and https://github.com/robotology/robots-configuration/blob/master/ergoCubSN003/wrappers/battery/battery_bat.xml