Add IsBatteryLow condition node#1974
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SteveMacenski
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Wow, that was quick, thanks for taking this on 👍
SteveMacenski
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SteveMacenski
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Add to MD and website and we can merge
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It looks like voltage is the only mandatory field in Should we still continue with percentage or is voltage a better option? |
Perhaps both? could be parameterized. |
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@mikeferguson looks okay now? |
mikeferguson
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We still need to find_package(std_msgs) - other than that, looks good.
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@mikeferguson don’t you think both is a little unclear? I’d prefer to work on just the % unless you think its atypical for implementations to make proper use of that field. % is a more linear than voltage and easier for a typical person to reason about when making robot navigation decisions (“I should probably redock at 20%” vs “I need to take a bunch of data and model what voltage I to threshold at”) Or “both” in meaning it checks for both a voltage and % threshold, not either or. By default then we can just make the voltage outrageously high so that it doesnt affect users that dont override it. |
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I would have initially said "use percentage" - but it was pointed out that only the voltage is "required" in that message. For higher end robots, they should have a good estimate of battery state, but some lower end robots may not. I would suggest that maybe we invert the logic, so by default it uses percentage (since that is the better estimate), but there is a way to get a voltage-based mode? |
I don't understand the question. Can you rephrase? I agree that if we do either/or that percentage should be default. I could live with that. |
Not really a question. I was basically suggesting that we have two modes:
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SteveMacenski
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Needs markdown file in doc/parameters updated with new BT
* Add IsBatteryLow condition node * Update default battery topic and switch to battery % * Fix test * Switch to sensor_msgs/BatteryState * Add option to use voltage by default or switch to percentage * Add sensor_msgs dependency in package.xml * Make percentage default over voltage * Update parameter list
* initialize variables in inflation layer (#1970) * Fix zero waypoints crash (#1978) * return if the number of waypoints is zero. * terminate the action. * Succeed action instead of terminating. * Add IsBatteryLow condition node (#1974) * Add IsBatteryLow condition node * Update default battery topic and switch to battery % * Fix test * Switch to sensor_msgs/BatteryState * Add option to use voltage by default or switch to percentage * Add sensor_msgs dependency in package.xml * Make percentage default over voltage * Update parameter list * Initialize inflate_cone_ variable. (#1988) * Initialize inflate_cone_ variable. * initialize inflate_cone_ based on parameter. * Increase the sleep time in the tests makes the costmap test always succeed on my machine. * Add timeouts to all spin_until_future_complete calls (#1998) * Add timeouts to all spin_until_future_complete calls Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Update default timeout value Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Controllers should not be influenced by time jumps or slew (#2012) * Controllers should not be influenced by time jumps Therefore use rclcpp::GenericRate<std::chrono::steady_clock> instead of rclcpp::Rate Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Change to using `rclcpp::WallRate` for better readability Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Fix max path cycles for case where map has larger Y dimension than X dimension (#2017) * Fix max path cycles for case where map has larger Y dimension than X dimension * Improve readability * fix ament_cpplint and ament_uncrustify issues * fix minor cherry pick conflict mistake * bump version to 0.4.4 Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Wilco Bonestroo <w.j.bonestroo@saxion.nl> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Martijn Buijs <Martijn.buijs@gmail.com> Co-authored-by: justinIRBT <69175069+justinIRBT@users.noreply.github.com>
* Add IsBatteryLow condition node * Update default battery topic and switch to battery % * Fix test * Switch to sensor_msgs/BatteryState * Add option to use voltage by default or switch to percentage * Add sensor_msgs dependency in package.xml * Make percentage default over voltage * Update parameter list
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IsBatteryLowBT condition nodeDescription of documentation updates required from your changes