[TB4/Create3] /battery_state topic time stamp and data repeated 17 times? #243
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My (TurtleBot4lite's) Create3 publishes a /battery_state topic roughly every 10 seconds, but the header time stamp and data only changes after 169 seconds. Create3 Version G.3.1 Is this a defect, and if so where do I file the issue? Simplified output from |
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Replies: 2 comments
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This should be by design. The Create 3 battery sensor provides new information roughly every 2 minutes (to be more precise, it gives new information when the data changes, which depends on the current load on the battery) The fixed interval publication was requested by Turtlebot developers to simplify how battery data is displayed on the screen. The timestamp in the battery message indicates when that data was collected by the sensor, not when it is published. P.S. this is the right place for Create 3 questions, you can open an issue in this same repository to report bugs. |
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closing - answered |
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This should be by design.
The Create 3 battery sensor provides new information roughly every 2 minutes (to be more precise, it gives new information when the data changes, which depends on the current load on the battery)
The Create 3 robot publishes on ros the battery information 1) when received from the sensor and 2) at a fixed 10 seconds interval.
The fixed interval publication was requested by Turtlebot developers to simplify how battery data is displayed on the screen.
Without it, you may have to wait a few minutes before receiving the first battery message upon startup of the system.
The timestamp in the battery message indicates when that data was collected by the sensor, not when…