Battery simulation of gazebo robot

1. BRASS project Of github Warehouse ：

GitHub - pooyanjamshidi/brass_gazebo_battery: Battery plugin (open-circuit model) for any kinds of robot simulations in Gazebo.

<model name="battery_demo_model">
    <pose>0 0 0 0 0 0</pose>
    <static>false</static>
    <link name="body">
    <battery name="brass_battery">
        <voltage>12.592</voltage>
    </battery>
    </link>
<plugin name="battery" filename="libbattery_discharge.so">
    <ros_node>battery_monitor_client</ros_node>
    <link_name>body</link_name>
    <battery_name>linear_battery</battery_name>
    <constant_coef>12.694</constant_coef>
    <linear_coef>-3.1424</linear_coef>
    <initial_charge>1.1665</initial_charge>
    <capacity>1.2009</capacity>
    <resistance>0.061523</resistance>
    <smooth_current_tau>1.9499</smooth_current_tau>
    <charge_rate>0.2</charge_rate>
</plugin>
<plugin name="consumer" filename="libbattery_consumer.so">
    <link_name>body</link_name>
    <battery_name>linear_battery</battery_name>
    <power_load>6.6</power_load>
</plugin>
</model>

2. A battery plugin Example ：

A Gazebo Plugin: The Battery Indicator | The Little Robot Blogs

Code warehouse ：

https://bitbucket.org/ammpedro/cloudsim-ed-actuation/src/default/
It will battery msg use rostopic Send it out .

The problem is that you need to work with differential torque drive.

3. ros-kinetic On the branch pr2-simulator Inside ros-gazebo-plugin There are energy management nodes , Can simulate battery power , The specific links ：

pr2_common/gazebo.urdf.xacro at kinetic-devel · PR2/pr2_common · GitHub

Code ：

GitHub - PR2/pr2_simulator

The pro test can compile and use the node plug-in of energy management separately , By observation , The reduction of electricity is basically only related to the passage of time . It can be used to calibrate the battery life , To determine the parameters of the plug-in .