Battery extension

[Rezenders]

• Add argument to launchfile to indicate if battery should be used
• If battery is supposed to be used, the robot mission should be considered as aborted when the battery is below a certain threshold. This can be analyzed in the mission node, e.g. https://github.com/kas-lab/suave/blob/main/suave_missions/suave_missions/time_constrained_mission.py

[QMissinne]

argument added to launchfile as:

• none (default)
• battery_constraint (at threshold value, abort mission)

Next step is to implement the functionality of the battery.

[QMissinne]

to implement functionality :
instantiate BatteryMonitor() in inspection_mission. From this use battery_level variable and follow the structure of time_monitor_cb (in time_constrained_mission).

[QMissinne]

Instantiating class is not the right approach.

Instead, subscribe to diagnostics topic and read the battery_level from there. Constraint should remain the same.

[QMissinne]

Current iteration:

• launch argument still has some issues (not presenting as a possible argument)
• no condition on whether to use the battery constraint behavior (this should be based on the argument - if nothing is specified then there should be no battery constraint, but if specified in the prompt then the mission should abort at the threshold).