[Feature]: Neotic port of charge-manager and battery-estimation deb files

[Mechazo11]

What do we want to achieve?

Dear RobotnikAutomation team,

A couple of months ago, I had reached out to you regarding a Noetic port of the ROS packages of RBKAIROS units due to research needs in the iCORE Lab at LSU, Louisiana, USA.

In this regard, you had kindly provided me a Noetic build of the robotnik_base_hw package (see #14)

Now it seems, I am in need of the same for the charge-manager and battery-estimation packages, both of which is causing run-time errors.

How do we plan to do it?

If you would kindly provide me with updated .deb files for the charge_manager and battery-estimation packages or guide me on how to build .deb files for Noetic, I will appreciate it greatly.

On a different note, I was wondering, why certain critical packages such as charge-manager were not made to their respective ROS package in GitHub? Do they contain closed-source codes?

How can it be tested?

I will test it on the two RBKAIROS unit that we have in the iCORE Lab. Additionally, if the team decides, the above packages would me made open-source, I will be very happy to help maintaining the said packages.

Subtasks

No response

[Mechazo11]

An update

I was able to create two new .deb files for the two packages but had to remove ros-melodic-rcomponents and ros-melodic-robotnik-msgs dependencies in their respective control file.

My idea was that both rcomponents and robotnik-msgs were already present in the workspace as stand-alone packages. But I am getting errors like the ones shown below

[ INFO] [1722026271.386359306]: RobotnikBaseHW::Constructor:Configuring 4 joints 
[ WARN] [1722026271.466900960]: /robot/battery_estimator::checkTopicsHealth::726: Topic inputs_outputs_sub not being received
[ INFO] [1722026271.466970422]: /robot/battery_estimator::switchToState::541: STANDBY -> EMERGENCY
[ INFO] [1722026271.495854215]: /robot/robotnik_pad::switchToState::541: EMERGENCY -> STANDBY
[ INFO] [1722026271.520811705]: /robot/robotnik_pad::switchToState::541: STANDBY -> READY
[INFO] [1722026271.606802]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1722026271.641409]: ROS Serial Python Node
[INFO] [1722026271.654137]: Connecting to /dev/ttyUSB_LEDS at 2000000 baud
[INFO] [1722026271.678791]: Starting example...
[INFO] [1722026271.687483]: Waiting driver...
[INFO] [1722026271.700917]: /robot/leds_driver: starting
[INFO] [1722026271.704000]: Loading driver, waiting for Arduino Lighting Signaling (ALS module)...
[robot/robotnik_base_hw-5] process has died [pid 17461, exit code -11, cmd /home/robot/catkin_ws/devel/lib/robotnik_base_hw/robotnik_base_hw_node __name:=robotnik_base_hw __log:=/home/robot/.ros/log/ec7fc9e0-4b8e-11ef-ad1e-837cbbf481ec/robot-robotnik_base_hw-5.log].
log file: /home/robot/.ros/log/ec7fc9e0-4b8e-11ef-ad1e-837cbbf481ec/robot-robotnik_base_hw-5*.log
[robot/charge_manager-6] process has died [pid 17467, exit code -11, cmd /opt/ros/noetic/lib/charge_manager/charge_manager_node __name:=charge_manager __log:=/home/robot/.ros/log/ec7fc9e0-4b8e-11ef-ad1e-837cbbf481ec/robot-charge_manager-6.log].
log file: /home/robot/.ros/log/ec7fc9e0-4b8e-11ef-ad1e-837cbbf481ec/robot-charge_manager-6*.log
[robot/charge_manager-6] restarting process
process[robot/charge_manager-6]: started with pid [17538]
[robot/charge_manager-6] process has died [pid 17538, exit code -11, cmd /opt/ros/noetic/lib/charge_manager/charge_manager_node __name:=charge_manager __log:=/home/robot/.ros/log/ec7fc9e0-4b8e-11ef-ad1e-837cbbf481ec/robot-charge_manager-6.log].
log file: /home/robot/.ros/log/ec7fc9e0-4b8e-11ef-ad1e-837cbbf481ec/robot-charge_manager-6*.log
[robot/charge_manager-6] restarting process

Are ros-noetic versions of both rcomponents and robotnik-msgs really necessary for charge-manager given the fact that, both of those are already built inside the workspace ??

[Mechazo11]

Hi,

I just wanted to follow up on this issue. Is there any additional information I can provide or anything else I can do to help clarify the problem? Thank you for your time and attention to this matter.

Best regards,
@Mechazo11

[Mechazo11]

Hi,

I am closing this issue as we have figured out that charge-manager may not be a critical package as closer inspection shows it may be related to charging while docked. Our lab does not have that dock.

battery-estimation may be functional but we have not been able to verify it since roslaunch does not finish in its totality.

Thank you for your continued support.

With best,
@Mechazo11