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Fix/Feature: Valence Battery Update/Fix (#227) #278

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Merged
merged 1 commit into from
Oct 28, 2025
Merged

Fix/Feature: Valence Battery Update/Fix (#227) #278

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30 changes: 16 additions & 14 deletions clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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)

Expand Down