First test of my new ROS2 Galactic TurtleBot4 lite operating time, recharge time, and what happens when it does not get off the dock when battery reaches 100% charge.
Note the Create3 states it has been booted 13 times but does not record recharge cycles. This was the first discharge to 20% and recharge cycle in my home.
Summary:
-
As delivered configuration - max operating time, (to <20% charge), off the dock is about 1.75 hours
(No motion, just publishing Create3 topics, LiDAR scan topic, Oak-D-Lite color image and stereo 3D, Localization and Mapper running) -
Draws 13W
-
RPi4 is running at 60degC (in accessory tray with tiny, tiny fan)
-
Recharge takes approximately 2 hours
-
Recharge is complete when battery_state.percentage = 1.0
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If remains on dock after full recharge,
- bot drains ~9 min to 95%, and
- then recharges ~11 min to 100%
Nodes Running:
$ ros2 node list
/_internal/composite_hazard
/_internal/kinematics_engine
/_internal/mobility
/analyzers
/mobility_monitor
/motion_control
/rgb_stereo_node
/robot_state
/robot_state_publisher
/rplidar_composition
/static_transform
/system_health
/turtlebot4_diagnostics
/turtlebot4_node
/ui_mgr
Topic Publishers:
$ ros2 topic list
/battery_state
/cmd_audio
/cmd_lightring
/cmd_vel
/color/preview/camera_info
/color/preview/image
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/dock
/hazard_detection
/imu
/interface_buttons
/ip
/ir_intensity
/ir_opcode
/joint_states
/joy
/kidnap_status
/mobility_monitor/transition_event
/mouse
/odom
/parameter_events
/robot_description
/robot_state/transition_event
/rosout
/scan
/slip_status
/static_transform/transition_event
/stereo/camera_info
/stereo/depth
/stop_status
/tf
/tf_static
/wheel_status
/wheel_ticks
/wheel_vels