This PR fills out the previously unfilled power_supply_status field in the BatteryState msg, that is published from the Stretch Driver node. Since charging status is estimated from jumps/dips in voltage readings, the charging status can be incorrect due to outliers and external factors impacting the system voltage. However, the status is good enough to be used in an upcoming auto docking node, where the node will query the /battery field at the end of its docking procedure to determine whether the robot docked successfully.
This PR fills out the previously unfilled
power_supply_statusfield in the BatteryState msg, that is published from the Stretch Driver node. Since charging status is estimated from jumps/dips in voltage readings, the charging status can be incorrect due to outliers and external factors impacting the system voltage. However, the status is good enough to be used in an upcoming auto docking node, where the node will query the/batteryfield at the end of its docking procedure to determine whether the robot docked successfully.