Battery Sensor

This sensor emulates the remaining charge of a battery on the robot. It is meant to be used only as an informative measure, to be taken in consideration by the planning algorithms. It does not prevent the robot from working.

The charge of the battery decreases with time, using a predefined Discharge rate specified as a property of the Blender object. This rate is independent of the actions performed by the robot, and only dependant on the time elapsed since the beginning of the simulation.

If the battery enters in a Charging zone, the battery will gradually recharge.

Configuration parameters for Battery Sensor

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

• DischargingRate (float, default: 0.05)

  Battery discharging rate, in percent per seconds

Data fields

This sensor exports these datafields at each simulation step:

• timestamp (float, initial value: 0.0)

  number of seconds in simulated time

• charge (float, initial value: 100.0)

  Initial battery level, in percent

• status (string, initial value: Charged)

  Charging Status

Interface support:

• ros as std_msgs/Float32 (morse.middleware.ros.battery.Float32Publisher)
• socket as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher)
• yarp as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher)
• text as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher)
• moos as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher)

Services for Battery Sensor

• get_configurations() (blocking)

  Returns the configurations of a component (parsed from the properties).

  • Return value

    a dictionary of the current component’s configurations

• get_local_data() (blocking)

  Returns the current data stored in the sensor.

  • Return value

    a dictionary of the current sensor’s data

• get_properties() (blocking)

  Returns the properties of a component.

  • Return value

    a dictionary of the current component’s properties

• set_property(prop_name, prop_val) (blocking)

  Modify one property on a component

  • Parameters

    • prop_name: the name of the property to modify (as shown the documentation)
    • prop_val: the new value of the property. Note that there is no checking about the type of the value so be careful

  • Return value

    nothing

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

# adds a default robot (the MORSE mascott!)
robot = Morsy()

# creates a new instance of the sensor
battery = Battery()

# place your component at the correct location
battery.translate(<x>, <y>, <z>)
battery.rotate(<rx>, <ry>, <rz>)

robot.append(battery)

# define one or several communication interface, like 'socket'
battery.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

• Source code
• Unit-test

(This page has been auto-generated from MORSE module morse.sensors.battery.)