Checks if battery is low by subscribing to a sensor_msgs/BatteryState topic and checking if battery percentage/voltage is below a specified minimum value. By default percentage (in range 0 to 1) is used to check for low battery. Set the is_voltage parameter to true to use voltage. Returns SUCCESS when battery percentage/voltage is lower than the specified value, FAILURE otherwise.


<IsBatteryLow min_battery="0.5" battery_topic="/battery_status" is_voltage="false"/>