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Nonlinear dynamic battery model plugin

Hello all,

we were trying to develop our power manager package in Gazebo/ROS and I figured that there is no realistic battery discharge model plugin available. Only there is one now for all of us. :slight_smile:

We made it to be compatible with the dc_motor plugin out of the box, so it is super easy to attach multiple dynamic motors as consumers.

Please feel free to test it, every feedback is welcome, as usual.

stay healthy,