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.
monitor_rmp.pymonitor_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 Topicsrmp_feedback ('rmp_msgs/RMPFeedback')
- List of all of the feedback from the RMP
Published Topicsbattery_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
- does the robot have the front base battery 2
- does the robot have the rear base battery 1
- does the robot have the rear base battery 2
- does the robot have an auxiliary battery
To install the battery_monitor_rmp package, you can choose to either install from source, or from the Ubuntu package:
To install from source, execute the following:
To install the Ubuntu package, execute the following:
sudo apt-get install ros-indigo-battery-monitor-rmp
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%.
Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.