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Version: V2.0.5.1

8.13 Battery Status and Power Information

1. Battery Status​

  • Description: Obtain battery status information. The reporting frequency is 1 Hz. Applicable to all Walker Tienkung models.

  • Charging state: Field master_battery_current; negative values indicate discharging, positive values indicate charging.

  • Communication type: topic

  • Topic name: /power/battery/status

  • Message type: bodyctrl_msgs::msg::PowerBatteryStatus

  • Message format:

    # Power board voltage, current, power, temperature, etc.

    std_msgs/Header header

    # Battery status information
    int32 battery_installed  # 0x00: none; 0x01: small battery; 0x02: main battery; 0x03: both
    int32 battery_working    # 0x01: main battery; 0x10: small battery

    float32 master_battery_voltage # Main battery voltage
    float32 master_battery_current # Main battery current
    float32 master_battery_power   # Main battery power/energy

    float32 little_battery_voltage # Small battery voltage
    float32 little_battery_current # Small battery current
    float32 little_battery_power   # Small battery power/energy

    int8 pg12a # 00: low, 01: high
    int8 pg12b # 00: low, 01: high
    int8 pg12c # 00: low, 01: high
    int8 pg12d # 00: low, 01: high
    int8 pg5cd # 00: low, 01: high
    int8 pg5ab # 00: low, 01: high

    int8 pgrdc2   # 00: low, 01: high
    int8 pgrdc1   # 00: low, 01: high
    int8 pgheader # 00: low, 01: high
    int8 pgbutton2# 00: low, 01: high

2. Power Board Status​

  • Description: Obtain power board status information. The reporting frequency is 1 Hz. Applicable to all Walker Tienkung models.

  • Communication type: topic

  • Topic name: /power/board/status

  • Message type: bodyctrl_msgs::msg::PowerStatus

  • Message format:

    # Power board voltage, current, power, temperature, etc.

    std_msgs/Header header

    # Temperature information
    float32 waist_temp     # Waist MOS temperature
    float32 arm_a_temp     # Arm A MOS temperature
    float32 arm_b_temp     # Arm B MOS temperature
    float32 leg_a_temp     # Leg A MOS temperature
    float32 leg_b_temp     # Leg B MOS temperature

    float32 waist_temp_max # Max waist MOS temperature
    float32 arm_a_temp_max # Max Arm A MOS temperature
    float32 arm_b_temp_max # Max Arm B MOS temperature
    float32 leg_a_temp_max # Max Leg A MOS temperature
    float32 leg_b_temp_max # Max Leg B MOS temperature

    float32 waist_temp_min # Min waist MOS temperature
    float32 arm_a_temp_min # Min Arm A MOS temperature
    float32 arm_b_temp_min # Min Arm B MOS temperature
    float32 leg_a_temp_min # Min Leg A MOS temperature
    float32 leg_b_temp_min # Min Leg B MOS temperature

    # Current information
    float32 arm_a_curr # Arm A current
    float32 arm_b_curr # Arm B current
    float32 leg_a_curr # Leg A current
    float32 leg_b_curr # Leg B current
    float32 waist_curr # Waist current
    float32 head_curr  # Head current

    float32 arm_a_curr_max # Max Arm A current
    float32 arm_b_curr_max # Max Arm B current
    float32 leg_a_curr_max # Max Leg A current
    float32 leg_b_curr_max # Max Leg B current
    float32 waist_curr_max # Max waist current
    float32 head_curr_max  # Max head current

    float32 arm_a_curr_min # Min Arm A current
    float32 arm_b_curr_min # Min Arm B current
    float32 leg_a_curr_min # Min Leg A current
    float32 leg_b_curr_min # Min Leg B current
    float32 waist_curr_min # Min waist current
    float32 head_curr_min  # Min head current

    float32 arm_a_volt # Arm A voltage
    float32 arm_b_volt # Arm B voltage
    float32 leg_a_volt # Leg A voltage
    float32 leg_b_volt # Leg B voltage
    float32 waist_volt # Waist voltage
    float32 bus_volt   # Bus voltage

    float32 arm_a_volt_max # Max Arm A voltage
    float32 arm_b_volt_max # Max Arm B voltage
    float32 leg_a_volt_max # Max Leg A voltage
    float32 leg_b_volt_max # Max Leg B voltage
    float32 waist_volt_max # Max waist voltage
    float32 bus_volt_max   # Max bus voltage

    float32 arm_a_volt_min # Min Arm A voltage
    float32 arm_b_volt_min # Min Arm B voltage
    float32 leg_a_volt_min # Min Leg A voltage
    float32 leg_b_volt_min # Min Leg B voltage
    float32 waist_volt_min # Min waist voltage
    float32 bus_volt_min   # Min bus voltage

    # Version information
    string software_version # Software version
    string hardware_version # Hardware version

    # Battery status information
    float32 battery_voltage # Battery voltage
    float32 battery_current # Battery current
    float32 battery_power   # Battery power/energy

3. Emergency‑Stop Button Status​

  • Description: Obtain emergency‑stop button status information. The reporting frequency is 1 Hz. Applicable to all Walker Tienkung models.

  • Communication type: topic

  • Topic name: /power/board/key_status

  • Message type: bodyctrl_msgs::msg::PowerBoardKeyStatus

  • Message format:

    # Power board button status

    std_msgs/Header header

    # Power board status
    uint32 work_time               # Operating time
    std_msgs/Bool is_estop         # Whether the hardware E‑stop is pressed
    std_msgs/Bool is_remote_estop  # Whether the software E‑stop is pressed
    std_msgs/Bool is_power_on      # Whether power is supplied normally