battery_state_broadcaster.xml

<library path="battery_state_broadcaster">
    <class name="battery_state_broadcaster/BatteryStateBroadcaster"
           type="battery_state_broadcaster::BatteryStateBroadcaster" base_class_type="controller_interface::ControllerInterface">
    <description>
        This controller publishes the readings of a battery sensor as sensor_msgs/BatteryState message.
    </description>
    </class>
  </library>