PDS Node

PDS Node#

The PDS ROS2 Node provides operational control and monitoring of MAB Robotics PDS (Power Delivery System) devices.
It serves as a runtime interface for accessing PDS modules and does not perform device configuration.
For configuration details, refer to the official PDS documentation.

Once a PDS device is registered, the node automatically scans all connected modules and creates module-specific handlers, topics, and services.

PDS Base Services#

The following services allow registering and managing PDS devices.

Service Name	Description	Service Type
`/pds/add_pds`	Registers a PDS devices by ID	`candle_ros2/AddDevices`
`/pds/reboot_pds`	Reboots the specified PDS devices	`candle_ros2/Generic`
`/pds/shutdown_pds`	Shuts down the specified PDS devices	`candle_ros2/Generic`

PDS Module Topics and Services#

The node publishes telemetry data for each detected module.
Topics follow the naming scheme:

/pds/id_<id>/<module>_<socket>

Each module additionally exposes enable/disable services using the pattern:

/pds/id_<id>/enable_<module>_<socket>

/pds/id_<id>/disable_<module>_<socket>

Example#

For PDS ID 100 with an Isolated Converter on socket 1, the node will create:

Topic

/pds/id_100/ic_1

Services

/pds/id_100/enable_ic_1
/pds/id_100/disable_ic_1

Supported Modules#

Module Name	Topic Pattern	Description
Control Board	`/pds/id_<id>/ctrl`	System-level telemetry
Brake Resistor	`/pds/id_<id>/br_<socket>`	Brake resistor status and temperature
Isolated Converter	`/pds/id_<id>/ic_<socket>`	Output voltage, load current, safety data
Power Stage	`/pds/id_<id>/ps_<socket>`	Power delivery, current, energy, temperature

Each PDS device always includes a Control Board (ctrl) module.

For detailed message structures of each module, see the dedicated module pages: