strands-project/morse — pull request #2 by kunzel (2013-07-30 21:50:28+00:00)
Title: Added battery charging and battery state ROS interface

The battery sensor now detects whether it is in a certain range of a charging zone (default: 0.5 meter). A charging zone can be any object in the simulation with an object property 'ChargingZone'. This property can be added as follows (builder script):

myobject.properties(Object = True, ChargingZone = True)

whereby _myobject_ can be any type of object.

The ROS msg published by the battery sensor is of type scitos_msgs/BatteryState:

std_msgs/Header header
uint32 seq
time stamp
string frame_id
float32 voltage
float32 current
int8 lifePercent
int16 lifeTime
bool charging
bool powerSupplyPresent
float32[] cellVoltage

Currently only _lifePercent_ and the _charging_ flag are reported.