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Battery percentage reported by the robot is outside of the valid range [0,100] and hence the battery soc will not be updated. It is critical to update the battery soc with a valid battery percentage for task allocation planning. #548
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Hello! To start off, may I check which fleet adapter you're running? Did you implement one with the latest fleet adapter template that uses the Easy Full Control API, or are you using the legacy full control fleet adapter? Or perhaps you're using the free fleet adapters available that works with Nav2 clients, they are pretty outdated but there is an open PR that improves the implementation using the Easy Full Control API and zenoh bridge, you might want to check that out. The next thing to check is whether your fleet adapter is using the correct API for battery state. From your topic echo it seems like |
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Hi @xiyuoh ... this is my custom data to the /batter_state.. ros2 topic echo /battery_state.. `header: 8.673995018005371 But at the same time... How can i handle it.. Actually i doing like this please guide me @xiyuoh
Please help me @xiyuoh how can i do openrmf on turtlebot3. |
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Description
Error/...
Bot : Real Turtlebot3
Distro: Humble
Running Nav2, client , server and RMF..
Getting this issue..
planning. [full_control-15] [ERROR] [1729862531.098979290] [turtlebot3_fleet_adapter]: Battery percentage reported by the robot is outside of the valid range [0,100] and hence the battery soc will not be updated. It is critical to update the battery soc with a valid battery percentage for task allocation planning. [full_control-15] [ERROR] [1729862531.599059451] [turtlebot3_fleet_adapter]: Battery percentage reported by the robot is outside of the valid range [0,100] and hence the battery soc will not be updated. It is critical to update the battery soc with a valid battery percentage for task allocation planning. [full_control-15] [ERROR] [1729862532.099110259] [turtlebot3_fleet_adapter]: Battery percentage reported by the robot is outside of the valid range [0,100] and hence the battery soc will not be updated. It is critical to update the battery soc with a valid battery percentage for task allocation planning. [full_control-15] [ERROR] [1729862532.599304815] [turtlebot3_fleet_adapter]: Battery percentage reported by the robot is outside of the valid range [0,100] and hence the battery soc will not be updated. It is critical to update the battery soc with a valid battery percentage for task allocation planning. [full_control-15] [ERROR] [1729862533.099170416] [turtlebot3_fleet_adapter]: Battery percentage reported by the robot is outside of the valid range [0,100] and hence the battery soc will not be updated. It is critical to update the battery soc with a valid battery percentage for task allocation planning.ros2 topic echo /battery_state..
`header:
stamp:
sec: 1729862443
nanosec: 418551668
frame_id: base_link
voltage: 8.673995018005371
temperature: 25.122230529785156
current: -5.0
charge: 149.38681030273438
capacity: 110.0
design_capacity: 150.0
percentage: 0.9900000095367432
power_supply_status: 2
power_supply_health: 1
power_supply_technology: 2
present: true
cell_voltage:
cell_temperature:
location: SIM-SLOT-1
`
Please help me
ode name: NODE_NAME_UNKNOWN
Node namespace: NODE_NAMESPACE_UNKNOWN
Topic type: sensor_msgs/msg/BatteryState
Endpoint type: PUBLISHER
GID: 01.0f.d3.8e.d0.00.cc.ff.00.00.00.00.00.00.12.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite
`ros2 node info /turtlebot3_node
/turtlebot3_node
Subscribers:
/cmd_vel: geometry_msgs/msg/Twist
/parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
/battery_state: sensor_msgs/msg/BatteryState
/imu: sensor_msgs/msg/Imu
/joint_states: sensor_msgs/msg/JointState
/magnetic_field: sensor_msgs/msg/MagneticField
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
/sensor_state: turtlebot3_msgs/msg/SensorState
Service Servers:
/motor_power: std_srvs/srv/SetBool
/reset: std_srvs/srv/Trigger
/sound: turtlebot3_msgs/srv/Sound
/turtlebot3_node/describe_parameters: rcl_interfaces/srv/DescribeParameters
/turtlebot3_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/turtlebot3_node/get_parameters: rcl_interfaces/srv/GetParameters
/turtlebot3_node/list_parameters: rcl_interfaces/srv/ListParameters
/turtlebot3_node/set_parameters: rcl_interfaces/srv/SetParameters
/turtlebot3_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
/turtlebot3_node/describe_parameters: rcl_interfaces/srv/DescribeParameters
/turtlebot3_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/turtlebot3_node/get_parameters: rcl_interfaces/srv/GetParameters
/turtlebot3_node/list_parameters: rcl_interfaces/srv/ListParameters
/turtlebot3_node/set_parameters: rcl_interfaces/srv/SetParameters
/turtlebot3_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Action Servers:
Action Clients:
`
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