tested and added low_battery boolean parameter to prevent repeating p…

…op ups

spot_driver/spot_driver/ros_helpers.py

@@ -24,6 +24,7 @@
 from google.protobuf.timestamp_pb2 import Timestamp
 from nav_msgs.msg import Odometry
 from rclpy.node import Node
+from rclpy.parameter import Parameter
 from sensor_msgs.msg import CameraInfo, CompressedImage, Image, JointState
 from tf2_msgs.msg import TFMessage
 from tkinter import messagebox
@@ -531,7 +532,7 @@ def get_tf_from_world_objects(
     return tf_msg
 
 
-def get_battery_states_from_state(state: robot_state_pb2.RobotState, spot_wrapper: SpotWrapper) -> BatteryStateArray:
+def get_battery_states_from_state(state: robot_state_pb2.RobotState, spot_wrapper: SpotWrapper, node: Node) -> BatteryStateArray:
     """Maps battery state data from robot state proto to ROS BatteryStateArray message
     Args:
         state: Robot State proto
@@ -557,12 +558,18 @@ def get_battery_states_from_state(state: robot_state_pb2.RobotState, spot_wrappe
         battery_msg.status = battery.status
         battery_states_array_msg.battery_states.append(battery_msg)
 
-        if battery_msg.charge_percentage <= 0.1:
+        if battery_msg.charge_percentage <= 10 and not node.get_parameter("low_battery").value:
+            low_battery_param = Parameter(
+                'low_battery',
+                Parameter.Type.BOOL,
+                True
+            )
+            node.set_parameters([low_battery_param])
             messagebox.showwarning(
                 title="Warning: Low Battery {}".format(battery_msg.identifier),
                 message=(
-                    "Battery is at {}. Approximately {} minutes remaining.\n Please charge your Spot soon."
-                ).format(battery_msg.charge_percentage * 100, battery_msg.estimated_runtime.sec / 60),
+                    "Battery is at {} %. Approximately {} minutes remaining.\n Please charge your Spot soon."
+                ).format(battery_msg.charge_percentage, round(battery_msg.estimated_runtime.sec / 60)),
             )
 
     return battery_states_array_msg

spot_driver/spot_driver/spot_ros2.py

@@ -284,6 +284,8 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
         self.declare_parameter("spot_name", "")
         self.declare_parameter("mock_enable", False)
 
+        self.declare_parameter("low_battery", False)
+
         # If `mock_enable:=True`, then there are additional parameters. We must set this one separately.
         set_node_parameter_from_parameter_list(self, parameter_list, "mock_enable")
         if self.get_parameter("mock_enable").value:
@@ -1040,7 +1042,7 @@ def robot_state_callback(self, results: Any) -> None:
             self.wifi_pub.publish(wifi_msg)
 
             # Battery States #
-            battery_states_array_msg = get_battery_states_from_state(state, self.spot_wrapper)
+            battery_states_array_msg = get_battery_states_from_state(state, self.spot_wrapper, self)
             self.battery_pub.publish(battery_states_array_msg)
 
             # Power State #