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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 | ||||
|---|---|---|---|---|
| URI | XML MODEL | ABSTRACTION | CLASS M/O |
SHORT DESCRIPTION |
| /hrim_power_battery_<instance_id>/id | generic/id.xml | topic (Pub) |
M | Component identification. |
| /hrim_power_battery_<instance_id>/status | generic/status.xml | topic (Pub) |
M | How the module is working. |
| /hrim_power_battery_<instance_id>/power | generic/power.xml | topic (Pub) |
M | Describes the power supply type and give the information about the module power consumption. |
| /hrim_power_battery_<instance_id>/specs_comm | generic/specs_comm.xml | topic (Pub) |
M | Published the capabilities in term of communicaction that the component offers. |
| /hrim_power_battery_<instance_id>/state_comm | generic/state_comm.xml | topic (Pub) |
M | Published the resources that the component is using at the moment. |
| /hrim_power_battery_<instance_id>/module_3d | generic/module_3d.xml | topic (Pub) |
M | Ask for the 3D model of the HRIM component. |
| /hrim_power_battery_<instance_id>/module_urdf | generic/module_urdf.xml | topic (Pub) |
M | Ask for the information of the HRIM component's 3D model. |
| /hrim_power_battery_<instance_id>/specs | power/battery/topics/specs.xml | topic (Pub) |
M | Device features. |
| /hrim_power_battery_<instance_id>/level | power/battery/topics/level.xml | topic (Pub) |
M | The report about the ramaining battery percentage. |
| /hrim_power_battery_<instance_id>/status_battery | power/battery/topics/statusBattery.xml | topic (Pub) |
O | The status of the battery. |
| Parameters | ||||
| PARAMETER NAME | DATA TYPE | UNIT | CLASS M/O |
SHORT DESCRIPTION |
| battery_low | int | % | O | Capacity percentage at first warning. |
| battery_critical | int | % | O | Capacity percentage at critical level. |
Note: the {BASE} wildcard references the base topics all modules contain, defined in the HRIM component model page.
The XML notation would look like:
<?xml version="1.0"?>
<module name="battery" type="power" description="defines the messages to interact with batteries">
<mandatory>
{BASE}
<topic name="specs" type="publish" description="device features" fileName="SpecsBattery">
<property name="header" type="header" fileName="Header">
<property name="time" type="time" fileName="Time">
<property name="sec" type="int32" unit="second">
<value></value>
</property>
<property name="nanosec" type="uint32" unit="nanosecond">
<value></value>
</property>
</property>
<property name="frame_id" type="string" description="transform frame with which this data is associated">
<value></value>
</property>
</property>
<property name="battery_type" type="uint8" unit="enum" enum='{"BATTERY_NICD" : 1, "BATTERY_NIMH" : 2, "BATTERY_LIFEPO" : 3, "BATTERY_LIPO" : 4, "BATTERY_LIION" : 5}'>
<value></value>
</property>
<property name="voltage" type="float32" unit="volt">
<value></value>
</property>
<property name="current" type="float32" unit="ampere">
<value></value>
</property>
<property name="capacity" type="int32" unit="milliampere per hour">
<value></value>
</property>
<property name="working_temp" type="int32[]" unit="celsius" description="working temperature range">
<value></value>
</property>
<property name="cells" type="uint8" description="number of cells">
<value></value>
</property>
<property name="cell_voltage" type="float32" unit="volt" description="voltage per cell">
<value></value>
</property>
<property name="charge_voltage" type="float32" unit="volt" description="charge cut-off voltage">
<value></value>
</property>
<property name="charge_current" type="float32" unit="ampere" description="charge cut-off current">
<value></value>
</property>
<property name="discharge_voltage" type="float32" unit="volt" description="discharge cut-off voltage">
<value></value>
</property>
<property name="impedance" type="int32" unit="milliohm">
<value></value>
</property>
</topic>
<topic name="level" type="publish" description="report about the ramaining battery percentage" fileName="BatteryLevel">
<property name="header" type="header" fileName="Header">
<property name="time" type="time" fileName="Time">
<property name="sec" type="int32" unit="second">
<value></value>
</property>
<property name="nanosec" type="uint32" unit="nanosecond">
<value></value>
</property>
</property>
<property name="frame_id" type="string" description="transform frame with which this data is associated">
<value></value>
</property>
</property>
<property name="battery_level" type="float32" unit="percentage" description="remaining battery capacity">
<value></value>
</property>
</topic>
</mandatory>
<optional>
<topic name="status_battery" type="publish" description="status of the battery" fileName="BatteryStatus">
<property name="header" type="header" fileName="Header">
<property name="time" type="time" fileName="Time">
<property name="sec" type="int32" unit="second">
<value></value>
</property>
<property name="nanosec" type="uint32" unit="nanosecond">
<value></value>
</property>
</property>
<property name="frame_id" type="string" description="transform frame with which this data is associated">
<value></value>
</property>
</property>
<property name="battery_status" type="uint8" unit="enum" enum='{"CHARGE_COMPLETED" : 0 , "BATTERY_LOW" : 1 , "BATTERY_CRITICAL" : 2}' description="status of the battery">
<value></value>
</property>
<property name="power_consumption" type="float32" description="can only be calculated if not charging">
<value></value>
</property>
<property name="relative_remaining_capacity" type="float32" unit="percentage" description="percent of maximum capacity">
<value></value>
</property>
<property name="remaining_capacity" type="float32" unit="ampere per hour">
<value></value>
</property>
<property name="charging" type="boolean" description="flag if robot is connected to external power or NOT">
<value></value>
</property>
<property name="time_remaining_charging" type="float32" unit="hour" description="estimated time to empty or fully charged">
<value></value>
</property>
</topic>
<param name="battery_low" type="int" unit="percentage" description="capacity percentage at first warning">
<value></value>
</param>
<param name="battery_critical" type="int" unit="percentage" description="capacity percentage at critical level">
<value></value>
</param>
</optional>
</module>