<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <gazebo>
    <plugin name="gazebo_ros_controller_manager" filename="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
    </plugin>

    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>     
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </plugin>
  </gazebo>

</robot>
