Gazebo energy monitor plugin for BRASS project
/energy_monitor/energy_level : Float64
The current energy level, in mwh.
/energy_monitor/voltage : Float64
The current simulated voltage, determined from the energy level according to
the empirical data Ivan gathered. The relevant data is in v_data.cc.
/mobile_base/commands/motor_power : kobuki_msgs::MotorPower
If the power runs out, the OFF message is sent here to turn the robot off.
/energy_monitor/set_charging : Bool
True if the robot is in charging mode, False otherwise (default: False)
/energy_monitor/set_voltage : Int32
Set the voltage to a value between [104, 166]. This turns into an energy
level (mwh) according to the table in `v_data.cc` which is generated by
running `calculate_percent_of_v.py`.
/energy_monitor/set_nuc_utilization : Float64
Set the NUC utilization percentage to a value between 0.0 and 100.0.
We also subscribe to /sensor/kinect/onoff : String to monitor the Kinect's
state, and /gazebo/get_model_state : Twist to monitor the simulated odometry.
mkdir build
cd build
cmake ../
make
The result will be a file libenergy_monitor.so which needs to be activated by
tagging it as a plugin in an appropriate gazebo world/model file.