IsBatteryLow

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.

Input Ports

min_battery

Type	Default
double	0.0

Description

Min battery percentage or voltage before triggering.

battery_topic

Type	Default
string	“/battery_status”

Description

Topic for battery info.

is_voltage

Type	Default
bool	false

Description

If true voltage will be used to check for low battery.

Example

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