Battery

HRIM defines a battery as
A smart a container consisting of one or more cells, in which chemical energy is converted into electricity and used as a source of power

So, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all battery will contain a topic referring to the power consumption.

HRIM component model: Battery
/hrim_power_battery_<instance_id>/id hrim_generic_msgs/msg/ID.msg topic (Sub) M Component identification.
/hrim_power_battery_<instance_id>/status hrim_generic_msgs/msg/Status.msg topic (Sub) M How the module is working.
/hrim_power_battery_<instance_id>/power hrim_generic_msgs/msg/Power.msg topic (Sub) M Describes the power supply type and give the information about the module power consumption.
/hrim_power_battery_<instance_id>/specs_comm hrim_generic_msgs/msg/SpecsCommunication.msg topic (Sub) M Published the capabilities in term of communicaction that the component offers.
/hrim_power_battery_<instance_id>/state_comm hrim_generic_msgs/msg/StateCommunication.msg topic (Sub) M Published the resources that the component is using at the moment.
/hrim_power_battery_<instance_id>/module_3d hrim_generic_msgs/msg/Simulation3D.msg topic (Sub) M Ask for the 3D model of the HRIM component.
/hrim_power_battery_<instance_id>/module_urdf hrim_generic_msgs/msg/SimulationURDF.msg topic (Sub) M Ask for the information of,3D model of the HRIM component.
/hrim_power_battery_<instance_id>/specs hrim_power_battery_msgs/msg/SpecsBattery.msg topic (Sub) M Device features.
/hrim_power_battery_<instance_id>/level hrim_power_battery_msgs/msg/BatteryLevel.msg topic (Sub) M The report about the ramaining battery percentage.
/hrim_power_battery_<instance_id>/status hrim_power_battery_msgs/msg/BatteryStatus.msg topic (Sub) O The status of the battery.
Parameters
battery_low int % O Capacity percentage at first warning.
battery_critical int % O Capacity percentage at critical level.