ROS driver for Texas Instruments INA219 current/power monitor with I2C interface

This is a ROS node for the INA219. The chip is notably used in the following products:

• Adafruit INA219 High Side DC Current Sensor Breakout

There should be no dependencies besides libi2c-dev.

Parameters:

• device (string) -- the path to the i2c device. Default is /dev/i2c-1. Use i2cdetect in the i2c-tools package to find out which bus your IMU is on.
• address (int) -- the i2c address of the INA219. Default is 0x40.
• calibration (int) -- the value for the INA219 calibration register. Default is 4096.
• rshunt (double) -- the shunt resistance in Ohms. Default is 0.1 which is what the Adafruit board uses.
• publish_voltage_shunt (bool) -- Publish voltage_shunt topic? Default false.
• publish_voltage_bus (bool) -- Publish voltage topic? Default true.
• publish_power (bool) -- Publish power? Default false.
• publish_current (bool) -- Publish current? Default true.

Publishers

• current (std_msgs/Float32) -- current in amps. Enabled by default.
• voltage (std_msgs/Float32) -- the bus voltage (e.g. battery voltage, if you are using this on the high side). Enabled by default.
• voltage_shunt (std_msgs/Float32) -- the shunt voltage (voltage across the shunt resistor). Disabled by default.
• power (std_msgs/Float32) -- power in watts. Disabled by default.

Subscribers

None.

Services

None.