battery_state_broadcaster

battery_state_broadcaster

This is a ros2_control Broadcaster which publishes sensor_msgs/BatteryState messages from appropriage state interfaces.

Required State Interfaces

This broadcaster requires the robot to have a sensor component which contains the battery state interfaces:

<ros2_control type="system">

    <!-- ... -->

    <sensor name="battery_state">
        <state_interface name="voltage" />
    </sensor>
</ros2_control>

Parameters

To use this broadcaster, declare it in the controller manager and set its parameters:

controller_manager:
  ros__parameters:
    battery_state_broadcaster:
      type: battery_state_broadcaster/BatteryStateBroadcaster

battery_state_broadcaster:
  ros__parameters:
    sensor_name: "battery_state"
    design_capacity: 100.0
    # https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg
    power_supply_technology: 2

And spawn it in the launch file:

battery_state_broadcaster_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["battery_state_broadcaster"],
)

Topics

The battery state is published on ~/battery_state. Since it's a plugin within the controller manager, add a remapping of the form `("~/battery_state", "/my_battery_state") to the controller manager, not the spawner, to change the topic name.