First Test Of TurtleBot4 lite's Create3 Power Usage

[slowrunner]

First test of my new ROS2 Galactic TurtleBot4 lite (built upon Create3) operating time, recharge time, and what happens when it does not get off the dock when battery reaches 100% charge.

Note the Create3 states it has been booted 13 times but does not record recharge cycles. This was the first discharge to 20% and recharge cycle in my home.

Summary:

• As delivered configuration - max operating time, (to <20% charge), off the dock is about 1.75 hours
  (No motion, just publishing Create3 topics, LiDAR scan topic, Oak-D-Lite color image and stereo 3D, Localization and Mapper running - datasheet lists 2.5h minimum... )

• Power Draw is ~13W (0.8A at 16.2v)

• Recharge takes approximately 2 hours

• Recharge is complete when battery_state.percentage = 1.0

• If remains on dock after full recharge,

  • bot drains ~9 min to 95%, and
  • then recharges ~11 min to 100%

Nodes Running:
$ ros2 node list
/_internal/composite_hazard
/_internal/kinematics_engine
/_internal/mobility
/analyzers
/mobility_monitor
/motion_control
/rgb_stereo_node
/robot_state
/robot_state_publisher
/rplidar_composition
/static_transform
/system_health
/turtlebot4_diagnostics
/turtlebot4_node
/ui_mgr

Topic Publishers:
$ ros2 topic list
/battery_state
/cmd_audio
/cmd_lightring
/cmd_vel
/color/preview/camera_info
/color/preview/image
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/dock
/hazard_detection
/imu
/interface_buttons
/ip
/ir_intensity
/ir_opcode
/joint_states
/joy
/kidnap_status
/mobility_monitor/transition_event
/mouse
/odom
/parameter_events
/robot_description
/robot_state/transition_event
/rosout
/scan
/slip_status
/static_transform/transition_event
/stereo/camera_info
/stereo/depth
/stop_status
/tf
/tf_static
/wheel_status
/wheel_ticks
/wheel_vels

[slowrunner]

This bot went back - arrived from ClearPath with scratched cover plate (due to not being wrapped in plastic), and a bent mount for the Oak-D-Lite.

(This was a "first shipment" bot and 13 months ago.)