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Refactor battery demo #633

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Refactor battery demo #633

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fe07d56
Battery demo refactor.
caguero Nov 5, 2024
9427db6
Missing yaml
caguero Nov 5, 2024
ded46b8
CMakelists.
caguero Nov 5, 2024
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6 changes: 6 additions & 0 deletions ros_gz_sim_demos/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,12 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

install(
DIRECTORY
config/
DESTINATION share/${PROJECT_NAME}/config
)

install(
DIRECTORY
launch/
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24 changes: 12 additions & 12 deletions ros_gz_sim_demos/README.md
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Expand Up @@ -28,6 +28,18 @@ And

![](images/air_pressure_demo.png)

## Battery

Get the current state of a battery.

ros2 launch ros_gz_sim_demos battery.launch.xml

Then send a command so the vehicle moves and drains the battery.

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

![](images/battery_demo.png)

## Camera

Publishes RGB camera image and info.
Expand Down Expand Up @@ -164,18 +176,6 @@ Using Gazebo Sim plugin:

![](images/rgbd_camera_demo.png)

## Battery

Get the current state of a battery.

ros2 launch ros_gz_sim_demos battery.launch.py

Then send a command so the vehicle moves and drains the battery

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

![](images/battery_demo.png)

## Robot description publisher

Leverage the robot description publisher to spawn a new urdf model in gazebo and
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18 changes: 18 additions & 0 deletions ros_gz_sim_demos/config/battery.yaml
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@@ -0,0 +1,18 @@
# Battery configuration.
- ros_topic_name: "/model/vehicle_blue/cmd_vel"
gz_topic_name: "/model/vehicle_blue/cmd_vel"
ros_type_name: "geometry_msgs/msg/Twist"
gz_type_name: "gz.msgs.Twist"
subscriber_queue: 5
publisher_queue: 6
lazy: false
direction: ROS_TO_GZ

- ros_topic_name: "/model/vehicle_blue/battery/linear_battery/state"
gz_topic_name: "/model/vehicle_blue/battery/linear_battery/state"
ros_type_name: "sensor_msgs/msg/BatteryState"
gz_type_name: "gz.msgs.BatteryState"
subscriber_queue: 5
publisher_queue: 6
lazy: false
direction: GZ_TO_ROS
69 changes: 0 additions & 69 deletions ros_gz_sim_demos/launch/battery.launch.py
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7 changes: 7 additions & 0 deletions ros_gz_sim_demos/launch/battery.launch.xml
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@@ -0,0 +1,7 @@
<launch>
<gz_server world_sdf_file="linear_battery_demo.sdf" use_composition="True" create_own_container="True" />
<ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/battery.yaml" use_composition="True" />
<!-- FIXME: Why isn't the topic being populated on the UI? RQt issue? -->
<node pkg="rqt_plot" exec="rqt_plot" args="--force-discover /model/vehicle_blue/battery/linear_battery/state/percentage" />
<executable cmd="gz sim -g" />
</launch>