battery-monitoring
CommunityMonitor battery health and SoC for ROS 2 robots.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Battery health and state of charge information are critical for reliable operation, but ROS 2 systems often lack standardized, real-time monitoring and a consistent BatteryState interface. This skill provides end-to-end battery monitoring by reading voltages and currents, estimating the state of charge, and publishing BatteryState on a ROS 2 topic.
Core Features & Use Cases
- Voltage measurement via a divider and ADC, with filtering to reduce noise.
- Current measurement using a shunt-based sensor (INA219/INA226) and calibration to support accurate power budgeting.
- State of charge estimation through no-load voltage tracking, IR compensation, and coulomb counting.
- Publishing sensor_msgs/BatteryState on a standard topic with per-cell voltages when available.
- Alert thresholds and integration with behavior trees to trigger docking or safe shutdown.
- Hardware safety guidelines to protect the battery and electronics.
Quick Start
Run the BatteryMonitor node to start publishing BatteryState after wiring up voltage, current sensors, and related hardware.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: battery-monitoring Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#battery-monitoring Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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