[SW-642] Make it obvious when spot is running out of battery

[tcappellari-bdai]

Created a new spot_alerts node to monitor stats and throw a pop-up alert warning the user. It currently only monitors the battery states and throws a warning up if the percentage is <= 10%.
Also added the low_battery parameter flag to prevent constant pop up spamming.

Tested on a spot with low battery.

[tcappellari-bdai]

Current dependencies on/for this PR:

• main
  • PR [SW-642] Make it obvious when spot is running out of battery #252 👈

This stack of pull requests is managed by Graphite.

[jschornak-bdai]

As a heads-up, #209 is going to move the code that's modified in this PR into a separate C++-based node, which will impact your implementation here.

A future-proof way to handle this warning would be to make a ROS node that's added to the Spot driver launch description which subscribes to the battery state ROS topic published by the driver and runs the check you added here in the subscriber callback.

[coveralls-official]

Pull Request Test Coverage Report for Build 7923150267

Details

• 0 of 0 changed or added relevant lines in 0 files are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage remained the same at 41.434%

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Totals
Change from base Build 7906660021:	0.0%
Covered Lines:	1840
Relevant Lines:	4397

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💛 - Coveralls

The changes I requested have been put in place. Dismissing so I don't block the PR.

[khughes-bdai]

LGTM

[jschornak-bdai]

I tested this out by running the spot_alerts node by itself and publishing a BatteryStateArray message like this:

ros2 topic pub --rate 1 /status/battery_states spot_msgs/msg/BatteryStateArray "{battery_states: [{charge_percentage: 8.0}]}"

, and the pop-up appears like I'd expect.

There are a couple things that can be addressed in follow-up work, such as handling Spot charging back above the low-battery threshold level while these nodes are still running.

[tcappellari-bdai]

I tested this out by running the spot_alerts node by itself and publishing a BatteryStateArray message like this:

ros2 topic pub --rate 1 /status/battery_states spot_msgs/msg/BatteryStateArray "{battery_states: [{charge_percentage: 8.0}]}"

, and the pop-up appears like I'd expect.

There are a couple things that can be addressed in follow-up work, such as handling Spot charging back above the low-battery threshold level while these nodes are still running.

I just added in an extra check to reset the low_battery flag in case the spot is charging

[jbarry-bdai]

Sorry just realized in all the questions I had about parameters I never clicked approve. Thanks for doing this!!