<<PackageHeader(battery_monitor_rmp)>>
<<TOC(4)>>

== 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 ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
  name = monitor_rmp.py
  desc = `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%.
  sub {
    0.name = rmp_feedback
    0.type = 'rmp_msgs/RMPFeedback'
    0.desc = List of all of the feedback from the RMP
  }
  pub {
    0.name = battery_status_rmp
    0.type = 'rmp_msgs/RMPBatteryStatus'
    0.desc = publishes the battery status information for the RMP
  }
  param {
    0.name = ~front_base_batt_1
    0.type = `bool`
    0.default = False
    0.desc = does the robot have the front base battery 1  
    1.name = ~front_base_batt_2
    1.type = `bool`
    1.default = False
    1.desc = does the robot have the front base battery 2  
    2.name = ~rear_base_batt_1
    2.type = `bool`
    2.default = False
    2.desc = does the robot have the rear base battery 1  
    3.name = ~rear_base_batt_2
    3.type = `bool`
    3.default = False
    3.desc = does the robot have the rear base battery 2  
    4.name = ~aux_batt
    4.type = `bool`
    4.default = False
    4.desc = 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: 
 {{{#!shell
cd /path/to/your/catkin/workspace/src
git clone https://github.com/WPI-RAIL/battery_monitor_rmp.git
cd /path/to/your/catkin/workspace
catkin_make 
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 [[https://github.com/WPI-RAIL/rovio/issues|GitHub Issue Tracker]]. Feel free to contact me at any point with questions and comments. 

 * [[Russell Toris|Russell Toris]]
  * [[mailto:rctoris@wpi.edu|rctoris@wpi.edu]]
  * [[http://users.wpi.edu/~rctoris/|Academic Website]]


## AUTOGENERATED DON'T DELETE
## CategoryPackage