Raw Message Definition
# This message represents Warthog's lower-frequency status updates from the MCU
# Default publish frequency is 1Hz.
# Commit of firmware source.
# Times since MCU power-on and MCU rosserial connection, respectively.
# Temperature of MCU in Celsius.
# Monitoring the run/stop loop. Changes in these values trigger an immediate
# publish, outside the ordinarily-scheduled 1Hz updates.
bool stop_engaged # True when a stop has been pressed on the robot.
# Voltage rails, in volts
# Averaged over the message period
# Current senses available on platform, in amps.
# Averaged over the message period.
float32 current_battery # This is total current being used from the battery which includes the items below and motors.
# Highest total system current peak as measured in a 1ms window.
# Integration of all power consumption since MCU power-on, in watt-hours.
Compact Message Definition