GazeboRosPowerMonitor class
[Gazebo ROS Dynamic Plugins]

GazeboRosPowerMonitor Plugin. More...

Collaboration diagram for GazeboRosPowerMonitor class:

Classes
class	gazebo::GazeboRosPowerMonitor
	power_monitor simulation More...

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Detailed Description

GazeboRosPowerMonitor Plugin.

This plugin simulates the power_monitor node for reporting the state of the power system (battery charge, time remaining, AC present). controller:gazebo_ros_power requires a model as its parent.

    <!-- GazeboRosPowerMonitor -->
    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <timeout>5</timeout>
        <interface:audio name="power_monitor_dummy_interface" />
        <powerStateTopic>power_state</powerStateTopic>
        <powerStateRate>10.0</powerStateRate>
        <fullChargeCapacity>87.78</fullChargeCapacity>
        <dischargeRate>-474</dischargeRate>
        <chargeRate>525</chargeRate>
        <dischargeVoltage>15.52</dischargeVoltage>
        <chargeVoltage>16.41</chargeVoltage>
    </controller:gazebo_ros_power_monitor>