Only released in EOL distros:   indigo jade

About

The battery_monitor_rmp package uses the feedback provided by the RMP to monitor the segway batteries and then uses espeak to tell the user if a battery is getting low. It also publishes this information.

Nodes

monitor_rmp.py

monitor_rmp.py will take the feedback and publish that which corresponds to the batteries on the RMP. It will also use espeak to alert the user of battery states at 20%, 10% and 5%.

Subscribed Topics

rmp_feedback ('rmp_msgs/RMPFeedback')

• List of all of the feedback from the RMP

Published Topics

battery_status_rmp ('rmp_msgs/RMPBatteryStatus')

• publishes the battery status information for the RMP

Parameters

~front_base_batt_1 (bool, default: False)

• does the robot have the front base battery 1

~front_base_batt_2 (bool, default: False)

• does the robot have the front base battery 2

~rear_base_batt_1 (bool, default: False)

• does the robot have the rear base battery 1

~rear_base_batt_2 (bool, default: False)

• does the robot have the rear base battery 2

~aux_batt (bool, default: False)

• does the robot have an auxiliary battery

Installation

To install the battery_monitor_rmp package, you can choose to either install from source, or from the Ubuntu package:

Source

To install from source, execute the following:

•    1 cd /path/to/your/catkin/workspace/src
     2 git clone https://github.com/WPI-RAIL/battery_monitor_rmp.git
     3 cd /path/to/your/catkin/workspace
     4 catkin_make 
     5 catkin_make install
  

Ubuntu Package

To install the Ubuntu package, execute the following:

• sudo apt-get install ros-indigo-battery-monitor-rmp

Startup

The battery_monitor_rmp package contains a battery_monitor_rmp.launch file. This file launches an instance of the battery_monitor_rmp.py. To launch these nodes the following command can be used:

• roslaunch battery_monitor_rmp battery_monitor_rmp.launch 

Now the node will publish the information as well as use espeak to inform the user of a state of charge less than or equal to 20%.

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.

• Russell Toris

  • rctoris@wpi.edu

  • Academic Website