QRB ROS BATTERY

Overview

qrb_ros_battery is a package to publish the battery state data from system node.

qrb_battery_client, which is a dynamic library, is based on dbus framework for helping developers to connect with server to get the battery data.

Battery data can help developers assess the current battery status and determine if it needs to be recharged at a charging station in a timely manner.

This package leverages type adaption and intra process communication to optimize message formats and dramatically accelerate the communication between participating nodes.

QuickStart

Setup Docker on device: Docker Setup.

Download source code

cd ${QRB_ROS_WS}/src
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_battery.git

Build packages
```
colcon build
```
Run

cd ${QRB_ROS_WS}/src

source install/local_setup.sh
ros2 run qrb_ros_battery battery_node

Setup QCLINUX SDK environments: Reference Getting Started - Environment Setup

Create workspace in QCLINUX SDK environment and clone source code

mkdir -p <qirp_decompressed_workspace>/qirp-sdk/ros_ws
cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws

git clone https://github.com/qualcomm-qrb-ros/qrb_ros_battery.git

Build source code with QCLINUX SDK

export AMENT_PREFIX_PATH="${OECORE_NATIVE_SYSROOT}/usr:${OECORE_TARGET_SYSROOT}/usr"
export PYTHONPATH=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.12/site-packages/:${OECORE_TARGET_SYSROOT}/usr/lib/python3.12/site-packages/

colcon build --continue-on-error --cmake-args \
  -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
  -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
  -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.12/site-packages/numpy/core/include \
  -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
  -DBUILD_TESTING=OFF

Install ROS package to device

cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws/install/qrb_ros_battery
tar -czvf qrb_ros_battery.tar.gz include lib share
scp qrb_ros_battery.tar.gz root@[ip-addr]:/home/
cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws/install/qrb_battery_client
tar -czvf qrb_battery_client.tar.gz include lib share
scp qrb_battery_client.tar.gz root@[ip-addr]:/home/
ssh root@[ip-addr]
(ssh) mount -o remount rw /
(ssh) tar --no-overwrite-dir --no-same-owner -zxf /home/qrb_ros_battery.tar.gz -C /usr/
(ssh) tar --no-overwrite-dir --no-same-owner -zxf /home/qrb_battery_client.tar.gz -C /usr/

Run

(ssh) export HOME=/home
(ssh) setenforce 0
(ssh) source /usr/bin/ros_setup.sh && source /usr/share/qirp-setup.sh
(ssh) ros2 run qrb_ros_battery battery_node

Packages

Supported platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Qualcomm RB3 gen2.

Hardware	Software
Qualcomm RB3 gen2	LE.QCROBOTICS.1.0

Updates

Date	Changes
2025-3-11	Initial release