jbd_bms_ros

ROS node for Battery Management System by Jiabaida

Overview

This ROS2 package reads Li-ion battery-related information returned by Jiabaida BMS and publishes it as topics.

The package publishes battery information such as SOC (State-Of-Charge) and error ID, so that the main controller node can notice Low Voltage, High Temperature or any abnormality of Li-ion battery and modify the control behaviour accordingly.

The package supports varying models of battery pack with differing number of cells or temperature sensors.

Equipment Type

Jbd Power Lithium Battery

Environment

• Ubuntu 22.04
• ROS2 Humble

Nodes

jbd_bms_status

A ROS2 driver for battery management system from Jiabaida in China. It reads battery information and converts it to ROS2 topics.

Parameters

• port (type: string, default: jbd_bms)

  • Path of device file corresponding to the USB-UART adapter connecting to Jiabaida BMS

• baudrate (type: int, default: 9600)

  • Baudrate for UART communication to Jiabaida BMS

• loop_rate (type: int, default: 2)

  • Topic output rate [Hz]

• frame_id (type: string, default: jbd_bms)

  • Used in header of jbd_bms

Topics

• jbd_bms
• diagnostics

jbd_bms

State of battery sent from Jiabaida BMS.

Type: jbd_bms_msg/JbdStatus

jbd_bms_msg/JbdStatus

std_msgs/Header header    # Header
float32 voltage           # Pack Voltage [V]
float32 current           # Pack Current [A] (positive:charge negative:discharge)
int32 residual_capacity   # Remaining Capacity [mAh]
int32 design_capacity     # Designed Capacity [mAh]
int16 cycle_index         # Number of Charge Cycles
string date_production    # Date of Production
uint32 status_balance     # bit field representing Balance Status of each cell    (1: balancing under way)
uint16 status_protect     # bit field representing Protection Status of each cell (1: protection trigger detected)
uint16 version            # Version (0x10 --> ver1.0)
int16 rsoc                # State-Of-Charge [%]
int16 status_mos          # MosFET status (0:OFF 1:discharge ON 2:charge ON 3:ON for both direction (discharge/charge)
int16 cell_number         # Number of cells connected to BMS
int16 ntc_number          # Number of thermistors connected
float64[] ntc_tem         # Temperature [C] (degree Celsius) of all thermistors connected
float64[] cell_voltage    # Cell voltage [V] of all cells connected
int64[] error_id          # Array of error id's collected from Protection Status
string[] error_info       # Array of error messages corresponding to error_id

Error ID

Note: error_id in jbd_bms_msg/JbdStatus is a variable array of error ID's. Length of error_id becomes 0 when no error is detected.

error_id	description
0	Cell Overvoltage
1	Cell Undervoltage
2	Pack Overvoltage
3	Pack Undervoltage
4	Over-temp while charging
5	Under-temp while charging
6	Over-temp while discharging
7	Under-temp while discharging
8	Overcurrent while charging
9	Overcurrent while discharging
10	Short circuit
11	Front-end IC error
12	MosFET software lock-in
13	Communication error

/diagnostics

Diagnostics from Jiabaida BMS. Many human-readable messages on battery state.

Build & Install

Execute following commandS to build and install the package.

cd your-workspace/your-source-directory
git clone [email protected]:Futu-reADS/jbd_bms_ros.git
cd your-workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Udev rule

Udev rule file for USB-UART adaptor connecting to Jiabaida BMS:

KERNEL=="ttyUSB[0-9]",ATTRS{idVendor}=="10c4",ATTRS{idProduct}=="ea60",MODE:="0777",SYMLINK+="jbd_bms"

To install the udev rule:

sudo cp jbd_bms_driver/udev/10-jbd-bms.rules /etc/udev/rules.d/ or /lib/udec/rules.d
sudo udevadm control--reload-rules && udevadm trigger

Run

cd your-workspace
ros2 launch jbd_bms_status jbd_bms_status_launch.xml

Official website

http://www.jiabaida.com/