From e31078171e072732b8b4109686892b3532fca278 Mon Sep 17 00:00:00 2001
From: luis-camero <88782189+luis-camero@users.noreply.github.com>
Date: Wed, 11 Jun 2025 16:45:43 -0400
Subject: [PATCH] Fix/Feature: Valence Battery Update/Fix (#227)

* Only add battery estimator when no battery driver

* Update valence arguments

* Fix valence launch filename

* Remove duplicate definition

* Add robot namespace argument
---
 .../launch/generator.py                       | 30 ++++++++++---------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
index 832ab42..ade6d8b 100644
--- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
+++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
@@ -261,27 +261,25 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         if (self.clearpath_config.platform.battery.model in
                 [BatteryConfig.VALENCE_U24_12XP, BatteryConfig.VALENCE_U27_12XP]):
 
-            can_dev = 'can1'
-            bms_id = '0'
-
             launch_args = self.clearpath_config.platform.battery.launch_args
 
-            if launch_args:
-                if 'can_device' in launch_args:
-                    can_dev = launch_args['can_device']
-                if 'bms_id' in launch_args:
-                    bms_id = launch_args['bms_id']
-
-            bms_launch_args = [
-                ('namespace', self.namespace),
-                ('can_device', can_dev),
-                ('bms_id', bms_id),
+            valence_launch_args = [
+                ('robot_namespace', self.namespace),
+                ('namespace', f'{self.namespace}/platform/bms'),
+                ('interface', 'can1'),
+                ('bms_id', '0')
             ]
 
+            for i in range(len(valence_launch_args)):
+                key = valence_launch_args[i][0]
+                if key in launch_args:
+                    val = launch_args[key]
+                    valence_launch_args[i] = (key, str(val))
+
             self.bms_launch_file = LaunchFile(
                 'bms',
                 package=Package('valence_bms_driver'),
-                args=bms_launch_args
+                args=valence_launch_args
                 )
         # Inventus BMS
         elif (self.clearpath_config.platform.battery.model in
@@ -461,6 +459,10 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         ):
             common_platform_components.append(self.base_station_node)
 
+        # Only add estimator when no BMS is present
+        if self.bms_launch_file is None:
+            common_platform_components.append(self.battery_state_estimator)
+
         if len(self.can_bridges) > 0:
             common_platform_components.extend(self.can_bridges)