Turtlebot Netbook Battery Error

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Hi!

I experienced the same problem and was now able to solve it (at least for my configuration). Since I'm no Python programmer and the changes are really quick and dirty, I don't feel able to post a ticket. But maybe this helps some people.

Setup: ROS Fuerte on Laptop Lenovo Thinkpad X130e (which was delivered with my TurtleBot) running Ubunto 12.04 (fresh install). My battery information is located in /sys/class/power_supply/BAT1. I found some information here: mjmwired.net/kernel/Documentation/power/power_supply_class.txt My system provided power_now, energy_now and voltage_now that I could use to calculate the values. Since all such entries just contain a single value, you don't need to parse anything, just devide it by 1.000.000 because values are supplied in micro-A/W/V. Also remember to change the path to the battery in minimal.launch!

Attached see my changed laptop_battery.py (you can identify modified lines by the commented original lines next to them).

from __future__ import division

import roslib; roslib.load_manifest('turtlebot_node')

from   collections import deque
import threading
import copy
import yaml
import math
import rospy

from turtlebot_node.msg import LaptopChargeStatus
from diagnostic_msgs.msg import DiagnosticStatus, DiagnosticArray, KeyValue

def _strip_Ah(raw_val):
    if 'mAh' in raw_val:
        rv = float(raw_val.rstrip('mAh').strip()) / 1000.0
    elif 'Ah' in raw_val:
        rv = float(raw_val.rstrip('Ah').strip())
    elif 'mWh' in raw_val:
        rv = float(raw_val.rstrip('mWh').strip()) / 1000.0
    elif 'Wh' in raw_val:
        rv = float(raw_val.rstrip('Wh').strip())
    else:
        raise Exception('Value %s did not have supported units. (mAh,Ah,mWh,Wh)' % raw_val)
    return rv

def _strip_V(raw_val):
    if 'mV' in raw_val:
        rv = float(raw_val.rstrip('mV').strip()) / 1000.0
    elif 'V' in raw_val:
        rv = float(raw_val.rstrip('V').strip())
    else:
        raise Exception('Value %s did not have "V" or "mV"' % raw_val)
    return rv

def _strip_A(raw_val):
    if 'mA' in raw_val:
        rv = float(raw_val.rstrip('mA').strip()) / 1000.0
    elif 'A' in raw_val:
        rv = float(raw_val.rstrip('A').strip())
    elif 'mW' in raw_val:
        rv = float(raw_val.rstrip('mW').strip()) / 1000.0
    elif 'W' in raw_val:
        rv = float(raw_val.rstrip('W').strip())
    else:
        raise Exception('Value %s did not have supported units. (A,mA,W,mW)' % raw_val)
    return rv

def slerp(filename):
    f = open(filename, 'r')
    data = f.read()
    f.close()
    data = data.replace('\t', '  ')
    return data

#/proc/acpi/battery/BAT0/state
def _check_battery_info(_battery_acpi_path):
    o = slerp(_battery_acpi_path+'/energy_full_design')

#    batt_info = yaml.load(o)
    design_capacity = float(o) / 1000000.0
    o = slerp(_battery_acpi_path+'/energy_full')
    last_full_capacity = float(o) / 1000000.0
#    design_capacity    = _strip_Ah(batt_info.get('design capacity',    '0 mAh'))
#    last_full_capacity = _strip_Ah(batt_info.get('last full capacity', '0 mAh'))

    return (design_capacity, last_full_capacity)

state_to_val = {'Full':     LaptopChargeStatus.CHARGED, 
                'Charging':    LaptopChargeStatus.CHARGING, 
                'Discharging': LaptopChargeStatus.DISCHARGING }

diag_level_to_msg = { DiagnosticStatus.OK:    'OK', 
                      DiagnosticStatus.WARN:  'Warning',
                      DiagnosticStatus.ERROR: 'Error'    }

def _check_battery_state(_battery_acpi_path):
    """
    @return LaptopChargeStatus
    """
    o = slerp(_battery_acpi_path+'/status')

#    batt_info = yaml.load(o)

    rv = LaptopChargeStatus()

#    state = batt_info.get('charging state', 'discharging')
    state = o
    rv.charge_state = state_to_val.get(state, 0)
    o = slerp(_battery_acpi_path+'/power_now')
    rv.rate = float(o) / 1000000.0
#    rv.rate     = _strip_A(batt_info.get ...