The Power node tracks battery voltage and publishes state-of-charge estimates using a NiMH discharge curve. Always active — no enabled flag required.
Configuration​
Parameters​
| Parameter | Description |
|---|
battery_count | Number of batteries in series (default 1) |
Published​
| Topic | Type | Description | Rate |
|---|
/battery_state | sensor_msgs/BatteryState | Voltage, state-of-charge, and health | 2 Hz |
BatteryState Fields​
| Field | Value |
|---|
voltage | Live battery voltage in volts |
percentage | State-of-charge estimate (0.0 – 1.0) from NiMH discharge curve |
design_capacity | 3.0 × battery_count Ah |
power_supply_technology | NIMH |
power_supply_status | DISCHARGING |
power_supply_health | GOOD (≥ 11 V) / DEAD (< 11 V) |
present | true |
current / charge / capacity | NaN |
Warning Thresholds​
| Voltage | Behaviour |
|---|
| < 11.0 V | WARN logged every 10 seconds |
| < 10.0 V | ERROR logged every 5 seconds |