power monitor only publishes to power_state topic once every 30-40 seconds (ros ticket #3729)

[ahendrix]

It tries to publish at 10 hz, but most of the time only gets here:

Node: /power_monitor Time: 1264457298.637042000 Severity: Debug Location: /u/wim/ros/pkgs/pr2_power_drivers/power_monitor/src/power_monitor.cpp:PowerMonitor::publishPowerState:213 Published Topics: /rosout, /power_monitor/parameter_descriptions, /power_monitor/parameter_updates, /power_state

Nothing observed

trac data:

• Owner: tfield
• Reporter: wim
• Reported at: Mon Jan 25 14:09:16 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3729

[ahendrix]

[cmeyers] Tim add all that fancy stuff... looking at it I would guess that either you have batteries that are not reporting their voltage and currents or you haven't waited long enough for the nodes to accumulate enough battery information to fill out all these fields.

Can you tell us how you where running this, what the circumstances are, what robot and how we might reproduce it.....I am not a mind reader.

[ahendrix]

[tfield] "Nothing observed" from power_monitor means that it hasn't received any BatteryServer2 messages from ocean_battery_driver (should be on the /battery/server2 topic.)

Do you see anything with "rostopic echo /battery/server2"?

[ahendrix]

[wim] Yes, there are messages coming in on the /battery/server2 topic at 1 Hz.

{{{ header: seq: 134 stamp: 1264526362847595000 frame_id: id: 3 last_system_update: 1264526362847594000 time_left: 599940000000000 average_charge: 99 message: last_controller_update: 1264526357345964000 battery: [ present: True charging: False discharging: False power_present: True power_no_good: False inhibited: False last_battery_update: 1264526357409961000 battery_register: [0, 660, 10, 0, 0, 0, 0, 0, 3041, 16720, 0, 0, 2, 100, 94, 6227, 6416, -1, -1, -1, 0, 16800, 224, 8, 6600, 14400, 16, 15069, 19690, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] battery_update_flag: [False, True, True, True, False, False, False, False, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False] battery_register_update: [rostime.Time[0], rostime.Time[1264526317507602000], rostime.Time[1264526317507602000], rostime.Time[1264526317507602000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[1264526317507602000], rostime.Time[1264526317507603000], rostime.Time[1264526357409962000], rostime.Time[1264526317507603000], rostime.Time[1264526317635603000], rostime.Time[1264526317635604000], rostime.Time[1264526317635604000], rostime.Time[1264526317635604000], rostime.Time[1264526317635604000], rostime.Time[1264526317635604000], rostime.Time[1264526317635604000], rostime.Time[1264526317763481000], rostime.Time[1264526317763481000], rostime.Time[1264526317763482000], rostime.Time[1264526317763482000], rostime.Time[1264526317763482000], rostime.Time[1264526317763482000], rostime.Time[1264526317763482000], rostime.Time[1264526317859472000], rostime.Time[1264526317859472000], rostime.Time[1264526317859472000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0]], present: True charging: False discharging: False power_present: True power_no_good: False inhibited: False last_battery_update: 1264526357729834000 battery_register: [0, 660, 10, 0, 0, 0, 0, 0, 3048, 16734, 0, 0, 5, 100, 93, 6161, 6522, -1, -1, -1, 0, 16800, 224, 8, 6600, 14400, 16, 15069, 19874, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] battery_update_flag: [False, True, True, True, False, False, False, False, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False] battery_register_update: [rostime.Time[0], rostime.Time[1264526318259230000], rostime.Time[1264526318259230000], rostime.Time[1264526318259230000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[1264526318259231000], rostime.Time[1264526318259231000], rostime.Time[1264526357729835000], rostime.Time[1264526318259231000], rostime.Time[1264526318387230000], rostime.Time[1264526318387231000], rostime.Time[1264526318387231000], rostime.Time[1264526318387231000], rostime.Time[1264526318387231000], rostime.Time[1264526318387231000], rostime.Time[1264526318387232000], rostime.Time[1264526318531102000], rostime.Time[1264526318531102000], rostime.Time[1264526318531102000], rostime.Time[1264526318531102000], rostime.Time[1264526318531102000], rostime.Time[1264526318531103000], rostime.Time[1264526318531103000], rostime.Time[1264526318611098000], rostime.Time[1264526318611098000], rostime.Time[1264526318611098000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0]], present: True charging: False discharging: False power_present: True power_no_good: False inhibited: False last_battery_update: 1264526357809838000 battery_register: [0, 660, 10, 0, 0, 0, 0, 0, 3055, 16717, 0, 0, 2, 99, 96, 6352, 6551, -1, -1, -1, 0, 16800, 224, 8, 6600, 14400, 16, 15069, 19664, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] battery_update_flag: [False, True, True, True, False, False, False, False, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False] battery_register_update: [rostime.Time[0], rostime.Time[1264526318994978000], rostime.Time[1264526318994978000], rostime.Time[1264526318994979000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[1264526318994979000], rostime.Time[1264526318994979000], rostime.Time[1264526357809839000], rostime.Time[1264526318994979000], rostime.Time[1264526319122982000], rostime.Time[1264526319122982000], rostime.Time[1264526319122982000], rostime.Time[1264526319122982000], rostime.Time[1264526319122982000], rostime.Time[1264526319122982000], rostime.Time[1264526319122983000], rostime.Time[1264526319250854000], rostime.Time[1264526319250854000], rostime.Time[1264526319250855000], rostime.Time[1264526319250855000], rostime.Time[1264526319250855000], rostime.Time[1264526319250855000], rostime.Time[1264526319250855000], rostime.Time[1264526319330848000], rostime.Time[1264526319330849000], rostime.Time[1264526319330849000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0]], present: True charging: False discharging: False power_present: True power_no_good: False inhibited: False last_battery_update: 1264526357905712000 battery_register: [0, 660, 10, 0, 0, 0, 0, 0, 3065, 16710, 0, 0, 3, 98, 94, 6263, 6526, -1, -1, -1, 0, 16800, 224, 8, 6600, 14400, 16, 15069, 20070, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] battery_update_flag: [False, True, True, True, False, False, False, False, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False] battery_register_update: [rostime.Time[0], rostime.Time[1264526319730607000], rostime.Time[1264526319730607000], rostime.Time[1264526319730608000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[1264526319730608000], rostime.Time[1264526319730608000], rostime.Time[1264526357905712000], rostime.Time[1264526319730608000], rostime.Time[1264526319842625000], rostime.Time[1264526319842625000], rostime.Time[1264526319842625000], rostime.Time[1264526319842625000], rostime.Time[1264526319842626000], rostime.Time[1264526319842626000], rostime.Time[1264526319842626000], rostime.Time[1264526319986481000], rostime.Time[1264526319986481000], rostime.Time[1264526319986481000], rostime.Time[1264526319986481000], rostime.Time[1264526319986482000], rostime.Time[1264526319986482000], rostime.Time[1264526319986482000], rostime.Time[1264526320066474000], rostime.Time[1264526320066474000], rostime.Time[1264526320066474000], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0], rostime.Time[0]]] }}}

[ahendrix]

[wim] This seems very easy to reproduce. Just bring up any of the beta robots with the latest svn.

[ahendrix]

[tfield] OK, this was due to a recent change to (incorrectly) discard battery observations with current=0 (which happens whenever the robot is plugged in).

Not sure where you're seeing a publish rate of 10Hz? The default for the frequency parameter is 0.1.

Fixed in trunk on r30072. I need to release pr2_power_drivers with this update.

[ahendrix]

[tfield] pr2_power_drivers 1.0.1 released with this fix.

[ahendrix]

[wim] Great! Tested on prh and works as expected.