How to create a Battery usage plugin

asked 2017-09-23 11:22:32 -0600

moshimojo gravatar image

Hi everybody, I have a custom robot model in Gazebo and i want to create a battery plugin and then connect battery with motors. I have seen many different examples and i am a bit confused. I guess, i want the BatteryState topic publish in ROS. I am working with python. Any help? Do you have any examples on how to do it? Thank you!

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I am also looking for such a plugin. I have seen two plugins in Gazebo9 those are https://bitbucket.org/osrf/gazebo/src/default/plugins/LinearBatteryConsumerPlugin.cchttps://bitbucket.org/osrf/gazebo/src/default/plugins/LinearBatteryPlugin.cc If I understood the implementation of those correctly they have linear decharge based on a fixed load. I am looking for a plugin that dynamically decharge the battery based on the power of the motors. If you have implemented such a plugin, let me know

okan gravatar imageokan ( 2018-07-10 03:43:03 -0600 )edit