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A clamp-on meter would be the ideal case if you were just out to determine what current was being drawn. However, if you were out to monitor the current load on your battery so that you could either scale back the motor command in software to aviod tripping the breaker, or feed back the current draw to the driver so he can keep that in mind as he's trying to win a shoving match, you would need something like what I posted.
The resisitors I recommended range from 1 to ten milliOhms. That's on par with the resistance of the wire carrying the current to the battery, it's just measured precisely. It is also much less than the battery's internal resistance, so much so as to be irrelevant in a robot's overall circuit.
Now, that's not to say that there aren't ways that one could do this wrong. Please get help if you don't know what you're doing, and test your circuit before connecting it to any competition hardware.
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...Only a few people are awake and they live in a state of constant total amazement. -JP Shanley, Joe vs. the Volcano
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