msg.status.append(stat)
self.pub_diag.publish(msg)
+ current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
+
if self.pub_battery.get_num_connections() > 0:
batmsg = BatteryState()
batmsg.header.stamp = rospy.Time.now()
batmsg.voltage = volt
- batmsg.current = float('nan')
+ batmsg.current = current
batmsg.charge = float('nan')
batmsg.capacity = float('nan')
batmsg.design_capacity = 5.0