diff --git a/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery.py b/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery.py
index d98dbdf..5d8e7c1 100644
--- a/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery.py
+++ b/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery.py
@@ -94,6 +94,13 @@ def __init__(
                 case Platform.W200:
                     self.power_msg_voltage_index = Power.W200_MEASURED_BATTERY
                     self.power_msg_current_index = Power.W200_TOTAL_CURRENT
+                case Platform.DD100 | Platform.DO100:
+                    self.power_msg_voltage_index = Power.D100_MEASURED_BATTERY
+                    self.power_msg_current_index = Power.D100_TOTAL_CURRENT
+                case Platform.DD150 | Platform.DO150:
+                    self.power_msg_voltage_index = Power.D150_MEASURED_BATTERY
+                    self.power_msg_current_index = Power.D150_TOTAL_CURRENT
+
 
             # System capacity
             self._msg.capacity = self._msg.design_capacity = self.system_capacity
@@ -142,6 +149,11 @@ def update(self, power_msg: Power):
                 self._msg.current = 0.0
                 for i in self.power_msg_current_index:
                     self._msg.current += power_msg.measured_currents[i]
+            # Set charging status
+            if power_msg.charger_connected == 1:
+                self._msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING
+            else:
+                self._msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
             # Cells
             self.update_cells()
 
@@ -168,10 +180,6 @@ def update_from_lut(self):
             self._msg.percentage = self.linear_interpolation(self.LUT, avg_voltage)
             self._msg.charge = self._msg.capacity * self._msg.percentage
 
-            # Power supply status
-            if self._msg.percentage == 1.0:
-                self._msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL
-
         def update_cells(self):
             self._msg.cell_voltage = [self._msg.voltage / self.series] * self.cell_count
             self._msg.cell_temperature = [nan] * self.cell_count
@@ -257,11 +265,35 @@ class U1_35(SLA):
         CAPACITY = 35.0
         VOLTAGE = 12.0
 
+    class TLV1222(SLA):
+        CAPACITY = 22.0
+        VOLTAGE = 12.0
+
+    class RB20(LiION):
+        CAPACITY = 20.0
+        VOLTAGE = 12.8
+        LUT = [
+            [10.5, 0.0],
+            [12.0, 0.05],
+            [13.0, 0.1],
+            [13.25, 0.2],
+            [13.3, 0.3],
+            [13.4, 0.4],
+            [13.45, 0.5],
+            [13.5, 0.6],
+            [13.6, 0.7],
+            [13.7, 0.8],
+            [13.8, 0.9],
+            [14.5, 1.0],
+        ]
+
     # Match battery name to class
     BATTERIES = {
         BatteryConfig.HE2613: HE2613,
         BatteryConfig.ES20_12C: ES20_12C,
-        BatteryConfig.U1_35: U1_35
+        BatteryConfig.U1_35: U1_35,
+        BatteryConfig.TLV1222: TLV1222,
+        BatteryConfig.RB20: RB20
     }
 
     def __new__(cls,
diff --git a/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery_state_control b/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery_state_control
index 7c51651..a4c0b33 100755
--- a/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery_state_control
+++ b/clearpath_diagnostics/clearpath_diagnostics/battery_state/battery_state_control
@@ -78,7 +78,7 @@ class BatteryStateControl(Node):
             qos_profile_sensor_data)
 
         match self.platform:
-            case Platform.J100:
+            case Platform.J100 | Platform.DD100 | Platform.DO100 | Platform.DD150 | Platform.DO150:
                 self.hmi_battery_pub = self.create_publisher(
                     UInt8,
                     'platform/mcu/_hmi',
@@ -114,7 +114,7 @@ class BatteryStateControl(Node):
 
     def battery_state_callback(self, msg: BatteryState):
         match self.platform:
-            case Platform.J100:
+            case Platform.J100 | Platform.DD100 | Platform.DO100 | Platform.DD150 | Platform.DO150:
                 self.hmi_control(msg.percentage)
 
 
diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
index 3957221..1e946c2 100644
--- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
+++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
@@ -79,8 +79,8 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             ]
         )
 
-        # W200 MicroROS Agent
-        self.w200_uros_node = LaunchFile.Node(
+        # Ethernet MicroROS Agent
+        self.eth_uros_node = LaunchFile.Node(
             name='micro_ros_agent',
             package='micro_ros_agent',
             executable='micro_ros_agent',
@@ -205,11 +205,39 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             Platform.W200: common_platform_components + [
                 self.imu_0_filter_node,
                 self.imu_0_filter_config,
-                self.w200_uros_node,
+                self.eth_uros_node,
                 self.configure_mcu,
                 self.lighting_node,
                 self.sevcon_node
-            ]
+            ],
+            Platform.DD100: common_platform_components + [
+                self.imu_0_filter_node,
+                self.imu_0_filter_config,
+                self.eth_uros_node,
+                self.configure_mcu,
+                self.lighting_node,
+            ],
+            Platform.DO100: common_platform_components + [
+                self.imu_0_filter_node,
+                self.imu_0_filter_config,
+                self.eth_uros_node,
+                self.configure_mcu,
+                self.lighting_node,
+            ],
+            Platform.DD150: common_platform_components + [
+                self.imu_0_filter_node,
+                self.imu_0_filter_config,
+                self.eth_uros_node,
+                self.configure_mcu,
+                self.lighting_node,
+            ],
+            Platform.DO150: common_platform_components + [
+                self.imu_0_filter_node,
+                self.imu_0_filter_config,
+                self.eth_uros_node,
+                self.configure_mcu,
+                self.lighting_node,
+            ],
         }
 
     def generate_sensors(self) -> None: