How to detect panther power switch position in ROS

Software
#1

I would like to detect if the Panther’s power switch is set to CPU-ONLY or ALL position. Is there a rostopic or service that shows the power switch state?

I noticed that /battery messages are only published when switch position is set to ALL. I could use this to deduce the switch position. This is not desirable solution, I would prefer a more deterministic method.

#2

Hi jkyn_pff

I am terribly sorry I completely forgot to reply to you. You can detect that on a pin 22 on your raspberry pi.
Here is example code on to do this:

import rospy
from std_msgs.msg import Bool
import RPi.GPIO as GPIO

def talker():
    pub = rospy.Publisher('motor_switch_position', Bool, queue_size=10)
    rospy.init_node('motor_switch_state_publisher', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        rospy.loginfo(f'Motor Switch Position: {GPIO.input(22)}')
        pub.publish(GPIO.input(22))
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

Best regards,
Krzysztof Wojciechowski.

#3

Thank you Krzysztof, I was able to validate GPIO 22 functionality using SysFS /sys/class/goio/gpio22.

#4

HI Krzysztof,

Before you close this, I’d like to ask another question. Is there a similar GPIO for detecting charge cable inserted?

Thanks, Jerry