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This is a Gazebo plugin that simulate an open-circuit battery model. This is a fairly extensible and reusable battery plugin for any kind of Gazebo compatible robots. We developed this plugin primarily for A DARPA sponsored projectBRASS MARS at CMU.

This power model simulates the power consumption of a robot. The amount of power consumed by each component of a robot depends on its usage. The battery its current state of the charge after each simulation iteration determined bydt in the code. The battery plugin takes the power loads for each components in the robot that consume energy and current voltage value of the battery (which updates according to the open circuit voltage model) as inputs and returns a new voltage value.

This plugin is tested for ROS kinetic and Gazebo 7.8.1.

Create the build directory:

mkdir~/catkin_ws/src/brass_gazebo_battery/buildcd~/catkin_ws/src/brass_gazebo_battery/build

Make sure you have sourced ROS before compiling the code:

source /opt/ros/<DISTRO>/setup.bash

Compile the code:

cmake ../make

Compiling will result in a shared library,~/catkin_ws/src/brass_gazebo_battery/build/devel/lib/libbattery_discharge.so, that can be inserted in a Gazebo simulation.

Lastly, add your library path to theGAZEBO_PLUGIN_PATH:

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/brass_gazebo_battery/build/devel/lib

Build the plugin by going to the base of your work space and running catkin:

cd~/catkin_wscatkin_make

cd~/catkin_ws/src/brass_gazebo_battery/buildcmake ../makesudo make install

In the brass.world file,libbattery_discharge.so is mentioned as a plugin.This implied that plugin is initialized and loaded whenp2-cp1.world is opened in Gazebo.The xml code could be linked to any model in a new.world file.

<modelname="battery_demo_model">    <pose>0 0 0 0 0 0</pose>    <static>false</static>    <linkname="body">    <batteryname="brass_battery">        <voltage>12.592</voltage>    </battery>    </link><pluginname="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><pluginname="consumer"filename="libbattery_consumer.so">    <link_name>body</link_name>    <battery_name>linear_battery</battery_name>    <power_load>6.6</power_load></plugin></model>

cd~/catkin_ws/src/brass_gazebo_battery/gazebo test/worlds/p2-cp1.world --verbose

This Gazebo plugin expose several services that can be accessed via ROS:

/battery_monitor_client/battery_demo_model/set_charge/battery_monitor_client/battery_demo_model/set_charge_rate/battery_monitor_client/battery_demo_model/set_charging/battery_monitor_client/battery_demo_model/set_model_coefficients/battery_monitor_client/battery_demo_model/set_power_load

Also, this publish information about the status of robot battery to the following topics:

/mobile_base/commands/charge_level/mobile_base/commands/motor_power

First create the service description file.srv and put it in thesrv folder. Then declare it in theCMakeList.txt in theadd_service_files() section. Also, add the following to theCMakeList.txt:

generate_messages(DEPENDENCIESstd_msgs# Or other packages containing msgs)

For updating the parameters of the battery model we use ROS services,so here we explain how to add new services to the code if needed:

cd~/catkin_wscatkin_make

The header files associated to the service can be found here:

cd~/catkin_ws/devel/include/brass_gazebo_battery

The add the following header into the code that want to use the services:

#include"brass_gazebo_battery/SetLoad.h"

And then add the following declaration:

public:boolServiceName(brass_gazebo_battery::SetLoad::Request& req, brass_gazebo_battery::SetLoad::Response& res);

The service can then be advertised as follows:

this->rosNode->advertiseService(this->model->GetName() + "/api", &Plugin::ServiceName, this);

For converting capacity and charge rate (inAh) to power (mwh) which is consumed by planner the formula is(Ah)*(V) = (Wh). For example, if you have a3Ah battery rated at5V, the power is3Ah * 5V = 15wh or15000mwh.For convertingWatts towatt-hour, we dowatt * hour, e.g.,6 watts / 3600 (wh) per seconds.

We used/inspired by existing theory of open circuit battery model. This battery discharge/charge plugin uses the GazeboBattery class which is shipped by the default simulator.

Further references:r1,r2,r3.

If you need a new feature to be added, please contactPooyan Jamshidi.