Simulating battery life of a Turtlebot 3 in Gazebo

asked 2020-01-16 15:27:13 -0600

I have been researching ROS, Gazebo and Turtlebot 3 for the last 3 days for the first time ever and I have been trying to create a simulation where I can drive around a Turtlebot 3 while its battery state is simulated.

I have read about the Gazebo battery class, but I do not know how to use or implement it. I have also read that a Turtlebot 3 should output its BatteryState under the sensor_msgs topic, however my gazebo simulation does not publish this topic. I do know that this might be possible to achieve but do not know what file to edit or what config to add. I am a very big ROS noob, especially in combination with Gazebo considering my 3 day limited research. I use the standard simulation provided by Turtlebot3:

roslaunch turtlebot3_gazebo turtlebot3_house.launch

I cannot imagine simulating battery life is not possible in Gazebo so I have reached my last resort, which is to ask for help here. I have found the brass_gazebo_plugin but find its GitHub README and generally any info on it very non-descriptive and would need help from the community to at least get me started towards a simulation where a Turtlebot 3 is just standing in an open space, publishing its battery state.

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