Which are the units for tool_power_drain and ambient_power_drain? (#182)

Open-RMF Open-RMF General
1

Posted by @RDaneelOlivav:

Hi,

I was wondering which are the units for these two parameters found in the fleet_adapter.launch.xml. Is it % of drain per hour of active use? Is it mA?

tool_power_drain

ambient_power_drain

Also how is the tool_power_drain managed? Is there any example of this? How do we connect our tool systems to this? Thanks

Edited by @RDaneelOlivav at 2022-08-12T09:37:53Z

2

Posted by @Yadunund:

The units are in Watts (W) as documented in here and here. Feel free to open a PR to enhance the documentation if you felt it wasn’t clear.

The tool_power_drain parameter is essentially used to model the power drain from external systems on the robot such a vacuum that is only powered during a task and not during idle or navigation.

With the new flexible task system you can compose a tasks as a sequence of activities. If one such activity is a PerformAction whose schema is defined here, you can speciify whether the action will use any tool. The TaskPlanner will then take into account this source of battery drain while allocating tasks.