How to know the battery level and charging status?#

This section contains an overview of the power-related status data reported by your robot, as well as the ROS API and a brief description of the information available.

Charging the robot#

[‼️ROS1] TIAGo power management and docking

And more specifically (including battery specifications):

For robots with a differential drive base (TIAGo, TIAGo++), see mobile base battery and power supply;
For robots with an omnidirectional base (TIAGo OMNI), see omni base battery and power supply.

ROS API#

The robot’s power status is reported in the /power_status ROS topic.

Note

This node is launched by default on startup.

The following data is reported.

input: the voltage coming from the batteries.
charger: the voltage coming from the charger.
dock: the voltage coming from the dock station (if available for your robot).
pc: the voltage coming from the PC.
charge: the percentage battery charge.
is_connected: whether the robot is currently connected to the charger.
is_emergency: whether the emergency stop button is currently enabled.

Checking power status from robot’s terminal#

To check the power status from the terminal subscribe to the /power_status topic.

$ ros2 topic echo /power_status

header:
  stamp:
    sec: 1720782510
    nanosec: 862246116
  frame_id: power_status
input: 40.0
charger: 40.4
dock: 11.2
pc: 19.4
charge: 90
is_connected: false
is_emergency: false

Checking power status from Web user interface#

Using the Web user interface (http://robot-0c/), Diagnostics‣ Hardware section indicates the robot’s battery status, whether it is charging or not, and whether the emergency button is pressed or not. If the battery is below 20% the corresponding Diagnostics will be red.

Checking power status from the robot’s LEDs#

Some of PAL robots display their battery status via their LEDs colours.

In the case of ARI, the ears will blink between yellow and red when its battery is low. Otherwise, by default, they will be static light yellow.

See [‼️ROS1] Meaning of ARI LEDs colors and patterns for additional information on ARI’s LEDs.