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Package Summary

Battery Monitor for the M4-ATX Power Module

Package Summary

Battery Monitor for the M4-ATX Power Module


The m4atx_battery_monitor package will read the information from a m4atx battery supply and publish it as a ros message.



m4atx_battery_monitor_node will read in the information from the m4atx and publish the information.

Published Topics

battery_status_m4atx ('m4atx_batter_monitor/PowerReading')


~diag_frequency (double, default: 1.0) ~input_nominal (double, default: 13.8) ~battery_dead_voltage (double, default: 10.5)


A startup script is provided which will perform the following commands.


Locate the bus and device number of the device called "MicroChip Technology, Inc.".

sudo chmod a+rw /dev/bus/usb/<bus_num>/<device_num>

Where the bus_num and device_num were found above using lsusb.


To install the m4atx_battery_monitor package, you can choose to either install from source, or from the Ubuntu package:


To install from source, execute the following:

Ubuntu Package

To install the Ubuntu package, execute the following:


The ros_ethernet_rmp package contains a m4atx-battery-monitor.launch file. This file launches an instance of the m4atx_battery_monitor_node. To launch these nodes the following command can be used:

Now the node will publish the information as well as use espeak to inform the user of a state of charge less than or equal to 20%.


Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.

2020-01-25 12:50