![]() cd ~/dev_ws/src/two_wheeled_robot gedit CMakeLists.txtĪdd the Python executables. # Shutdown the ROS client library for PythonĬhange the access permissions on the file. # when the garbage collector destroys the node object) # (optional - otherwise it will be done automatically # Publish any pending messages to the topics. # Spin the node so the callback function is called. Self.percent_charge_level = self.percent_charge_level * crement_factorīattery_state_pub = BatteryStatePublisher() Self.battery_voltage = self.battery_voltage * crement_factor Self.publisher_battery_state.publish(msg) # Publish BatteryState message Msg.percentage = self.percent_charge_level Msg = BatteryState() # Create a message of this type ![]() We decrement the battery charge level to simulate a real-world battery. This function gets called at the specific time interval. crement_factor = 0.99 # Used to reduce battery level each cycle Self.percent_charge_level = 1.0 # Initialize the percentage charge level Self.battery_voltage = 9.0 # Initialize the battery voltage level Self.timer = self.create_timer(timer_period, self.get_battery_state) Self.publisher_battery_state = self.create_publisher(BatteryState, '/battery_status', 10) # This node publishes the state of the battery. # Initiate the Node class's constructor and give it a name The class publishes the battery state of an object at a specific time interval. Import rclpy # Import the ROS client library for Pythonįrom rclpy.node import Node # Enables the use of rclpy's Node classįrom sensor_msgs.msg import BatteryState # Enable use of the sensor_msgs/BatteryState message typeĬreate a BatteryStatePublisher class, which is a subclass of the Node class. battery_status – sensor_msgs/BatteryState Publish the battery state at a specific time interval Open a new Python program called battery_state_pub.py. cd ~/dev_ws/src/two_wheeled_robot/scriptsĬreate a folder for battery state. Open a terminal window, and move to your package. In a real-life application, we could have a condition plugin that listens to the /battery_status topic and returns SUCCESS when the battery percentage is lower than a specified value, and FAILURE otherwise. 1.0 indicates a full battery at 100% charge. In this implementation, I want the float32 percentage variable of the sensor_msgs/BatteryState message to start off as 1.0 and gradually decrease. You can find the files for this post here on my Google Drive. The name of our workspace is “dev_ws”, which stands for “development workspace.” You have already created a ROS 2 workspace. ![]() I am using ROS 2 Galactic, which is the latest version of ROS 2 as of the date of this post. ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04 or newer.Autonomous docking at a charging station once the battery level gets below a certain threshold.The application that we will develop in this tutorial can be used as a template for a number of real-world robotic applications…the most important being: ![]() My goal is to publish a sensor_msgs/BatteryState message to a topic named /battery_status. In this tutorial, I will show you how to create a simulated battery state publisher in ROS 2. ![]()
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