Add parameter for publish nan on unmeasured bs fields

Author: lukeschmitt-tr

tr1200_base/include/tr1200_base/hardware.hpp

@@ -118,6 +118,9 @@ class TR1200Interface : public hardware_interface::SystemInterface
 
   // Battery state publisher
   rclcpp::Publisher<BatteryState>::SharedPtr pub_battery_state_;
+
+  // True to publish unmeasured battery state values as NaNs, false to publish -1s
+  bool publish_battery_state_nans_{false};
 };
 
 }  // namespace tr1200_base

tr1200_base/src/hardware.cpp

@@ -59,6 +59,16 @@ CallbackReturn TR1200Interface::on_init(const hardware_interface::HardwareInfo &
     "Will connect to port '%s' on activation.",
     port_name_.c_str());
 
+  try {
+    publish_battery_state_nans_ = info_.hardware_parameters.at("publish_battery_state_nans") == "true";
+  } catch (const std::out_of_range & /* e */) {
+    RCLCPP_DEBUG(
+      node_->get_logger(),
+      "Could not find publish_battery_state_nans in hardware parameters, setting to default of "
+      "'false'.");
+    publish_battery_state_nans_ = false;
+  }
+
   // get joint names from parameters
   try {
     joint_name_left_wheel_ = info_.hardware_parameters.at("joint_name_left_wheel");
@@ -256,13 +266,30 @@ return_type TR1200Interface::read(
   // Read and publish battery state
   auto battery_state = BatteryState();
   battery_state.header.stamp = node_->now();
+  battery_state.power_supply_technology = BatteryState::POWER_SUPPLY_TECHNOLOGY_LIFE;
+  battery_state.power_supply_status = BatteryState::POWER_SUPPLY_STATUS_UNKNOWN;
+  battery_state.power_supply_health = BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN;
+
   battery_state.voltage = driver_->get_battery_voltage();
-  battery_state.current = driver_->get_battery_current();
-  battery_state.charge = std::numeric_limits<float>::quiet_NaN();
-  battery_state.capacity = std::numeric_limits<float>::quiet_NaN();
-  battery_state.design_capacity = std::numeric_limits<float>::quiet_NaN();
   battery_state.percentage = driver_->get_battery_soc();
   battery_state.present = true;
+  // TODO(lukeschmitt-tr): Reenable this once current has been verified
+  // battery_state.current = driver_->get_battery_current();
+
+  if (publish_battery_state_nans_) {
+    battery_state.charge = std::numeric_limits<float>::quiet_NaN();
+    battery_state.capacity = std::numeric_limits<float>::quiet_NaN();
+    battery_state.design_capacity = std::numeric_limits<float>::quiet_NaN();
+    battery_state.temperature = std::numeric_limits<float>::quiet_NaN();
+    battery_state.current = std::numeric_limits<float>::quiet_NaN();
+  } else {
+    battery_state.charge = -1.0;
+    battery_state.capacity = -1.0;
+    battery_state.design_capacity = -1.0;
+    battery_state.temperature = -1.0;
+    battery_state.current = -1.0;
+  }
+
   pub_battery_state_->publish(battery_state);
 
   return return_type::OK;

tr1200_description/urdf/tr1200.ros2_control.xacro

@@ -19,6 +19,7 @@
       <hardware>
         <plugin>tr1200_base/TR1200Interface</plugin>
         <param name="port_name">can0</param>
+        <param name="publish_battery_state_nans">false</param>
         <param name="joint_name_left_wheel">${left_wheel_joint}</param>
         <param name="joint_name_right_wheel">${right_wheel_joint}</param>
       </hardware>