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If your robot has this topic, yes, you can. Else, you can simulate the energy consumption using some package as https://github.com/AlexanderSilvaB/ba..., in this way, you need modeling your robot considering battery, motors and sensors, and the code will return the energy consumption
Overall, you need to know what kind of program API this robot has, then if there is an option to get or calculate energy consumption - then you should implement this in a ROS publisher or as a ROS service to call. This is a kind of example for working with I2C simpler electronics connected to ROS: https://people.eng.unimelb.edu.au/pbe.... I think KUKA robots should have some higher-level libraries...
Asked: 2022-04-08 10:23:59 -0500
Seen: 94 times
Last updated: Apr 08 '22
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This question is really vague, and the devil is in the details. Can you be more specific?
The short answer is yes, but I can't be more specific than "create a ROS node that generates topics about your battery state and then bag that topic while the robot is running."
Thanks a lot!
We have a kuka iiwa robot in the lab. And I also built a model with the help of moveit and gazebo in ROS. Now I can use joint_state_controller to get the topic of the joint angles, positions and torque. What we are trying to do now is to find a way to record also the energy consumption, not only from the simulation but also from the real robot.
You mentioned that we can generate topics about the battery state, could you please explain to me more specifically? That would very helpful for our reserach.
Well, it is hard to know because you didn't specify what robot you are working with. What topics do you have available? This is really a matter of whether that data is exposed through some sort of API. If you have access to it just create a ROS node that publishes the data to the topic and dump it to a bag file.
I don't know if ROS has the default package to record the energy consumption. For joint values, I have a joint_state_controller, which publish the joint values messages regularly. But for energy consumption, I don't know if there is a default package. How do I check that? Should I write a energy consumption package by myself?