Controlling the Robot:
Power Management Read-Only Power State Interface
Topic Path: /robot_driver/battery_state
Power Control Interfaces and High-Risk Definitions
Interfaces involving modifications to robot power distribution channels or overall system power states are defined below:
/robot_driver/power_control- REST
robot/setRobotPower
WARNING
The power control interfaces listed above directly toggle or cut off power distribution channels to the main controller, sensors (LiDAR/cameras), drivers, or individual joint components. Improper execution can easily trigger sensor communication dropouts, control deadlocks, or unexpected joint droop due to loss of holding power. These represent High-Risk operations; executable command payloads are excluded from this chapter.
Implementation Prerequisites and Operational Red Lines
- Prohibition of Executable Payloads: This manual strictly omits any direct executable command payloads or scripts that perform power control or power termination.
- Prerequisite Approval Requirements: Modifying power distribution channels on site strictly requires satisfying all three prerequisites simultaneously:
- Power Impact Assessment Sheet
- Comprehensive Fault Recovery Procedure
- Separate On-Site High-Risk Authorization