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osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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X2 battery lasts only 20 minutes? (Simple Tunnel 02) #201

Closed osrf-migration closed 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Martin Dlouhy (Bitbucket: robotikacz).

Is it expected that X2 has battery limit 20 minutes? Is it tunnel dependent? I tested it locally X2 config 3, Simple Tunnel 02 and rather by accident I noticed:

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Dbg] [LinearBatteryPlugin.cc:333] [Battery Plugin] Battery drain: 19 minutes passed.
[Dbg] [LinearBatteryPlugin.cc:333] [Battery Plugin] Battery drain: 20 minutes passed.
[Dbg] [LinearBatteryPlugin.cc:430] Battery: linear_battery
[Dbg] [LinearBatteryPlugin.cc:431] PowerLoads().size(): 1
[Dbg] [LinearBatteryPlugin.cc:433] voltage: 12.6307
[Dbg] [LinearBatteryPlugin.cc:434] state of charge: 0.00999806 (q 17.8218)

[Wrn] [LinearBatteryPlugin.cc:439] Model X2 out of battery.

Is it expected? I wanted to reopen #122 (Extension to X1 & X2 battery life) but somehow I do not how :disappointed:

osrf-migration commented 5 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

AFAIK, battery characteristics are declared per Ignition launch file so this shouldn’t be the case for the competition. This is still worth an update to 60m though for the small environment (or effectively infinite since this is a test environment).

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

OK, yes in this environment even 5 minutes is too much (but AWS runs always 60 minutes, maybe it could be shorter for these tests?). If it is expected and in final “Tunnel Circuit” environment it will be 60 minutes, no problem then. :slight_smile:

BTW recharging is possible via return to the base station? (for drones)

osrf-migration commented 5 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

I don’t know if recharging is possible in the virtual challenge. This is something we should look into though. I imagine that would just be a reset of battery capacity upon returning to staging area and reaching 0 velocity.

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AWS run duration is while the environment is active or until a very conservative real-time limit is met so they may be able to change the duration for some testing environments and then update that on AWS for easier testing. Whenever the OSRF folks read this, I’m sure they’ll have an answer regarding the practice environment duration.

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Never mind, I failed to noticed it at the top sentences:
tested it locally X2 config 3, Simple Tunnel 02

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Update your workspace or install the latest docker images released today.

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

I do not see this change in release notes … just noticed the same in practice tunnel 03:
[Wrn] [LinearBatteryPlugin.cc:439] Model X0F40F100F400L out of battery.
[Dbg] [LinearBatteryPlugin.cc:333] [Battery Plugin] Battery drain: 21 minutes passed.

(I still use the old simulator docker - too dangerous to change it now, unless there is some serious reason)

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Is there now, thanks for pointing that out.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).