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mergify[bot]christophfroehlichottojoahcordewentasah
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Add battery_state_broadcaster (backport #2086) (#2522)
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Jonas Otto <jonas.otto@ipa.fraunhofer.de> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Jonas Otto <jonas@jonasotto.com> Co-authored-by: Michal Sojka <michal.sojka@cvut.cz> Co-authored-by: Yara Shahin <58101871+YaraShahin@users.noreply.github.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
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‎battery_state_broadcaster/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package battery_state_broadcaster
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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The entries below refer to the standalone `ipa320/ros_battery_monitoring <https://github.com/ipa320/ros_battery_monitoring>`_ package,
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from which this broadcaster originates.
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1.1.0 (2025-09-26)
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------------------
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* address deprecations in ros2_control for kilted
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* Don't make a temporary copy of semantic component (`#9 <https://github.com/ipa320/ros_battery_monitoring/pull/9>`_)
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* Contributors: Christoph Froehlich, Jonas Otto
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1.0.2 (2025-06-01)
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------------------
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* Replace ament_target_dependencies with target_link_libraries (`#6 <https://github.com/ipa320/ros_battery_monitoring/issues/6>`_)
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* Contributors: Alejandro Hernandez Cordero, Jonas Otto
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1.0.1 (2025-02-06)
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------------------
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* fix realtime_tools include
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* Contributors: Jonas Otto
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1.0.0 (2024-08-14)
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------------------
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* initial release
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* Contributors: Jonas Otto

‎battery_state_broadcaster/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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project(battery_state_broadcaster)
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find_package(ros2_control_cmake REQUIRED)
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set_compiler_options()
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export_windows_symbols()
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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control_msgs
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controller_interface
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hardware_interface
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generate_parameter_library
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pluginlib
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rclcpp
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rclcpp_lifecycle
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rcpputils
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realtime_tools
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sensor_msgs
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)
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find_package(ament_cmake REQUIRED)
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find_package(backward_ros REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
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add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
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generate_parameter_library(battery_state_broadcaster_parameters
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src/battery_state_broadcaster_parameters.yaml
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)
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add_library(
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battery_state_broadcaster
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SHARED
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src/battery_state_broadcaster.cpp
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)
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target_compile_features(battery_state_broadcaster PUBLIC cxx_std_17)
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target_include_directories(battery_state_broadcaster
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PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/battery_state_broadcaster>
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)
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target_link_libraries(battery_state_broadcaster PUBLIC
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battery_state_broadcaster_parameters
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controller_interface::controller_interface
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hardware_interface::hardware_interface
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pluginlib::pluginlib
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rclcpp::rclcpp
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rclcpp_lifecycle::rclcpp_lifecycle
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rcpputils::rcpputils
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realtime_tools::realtime_tools
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${control_msgs_TARGETS}
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${sensor_msgs_TARGETS}
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${builtin_interfaces_TARGETS})
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pluginlib_export_plugin_description_file(
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controller_interface battery_state_broadcaster.xml)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(ros2_control_test_assets REQUIRED)
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add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
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ament_add_gmock(test_load_battery_state_broadcaster test/test_load_battery_state_broadcaster.cpp)
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target_include_directories(test_load_battery_state_broadcaster PRIVATE include)
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target_link_libraries(test_load_battery_state_broadcaster
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battery_state_broadcaster
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controller_manager::controller_manager
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hardware_interface::hardware_interface
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rclcpp::rclcpp
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ros2_control_test_assets::ros2_control_test_assets
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)
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add_rostest_with_parameters_gmock(test_battery_state_broadcaster
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test/test_battery_state_broadcaster.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/test/battery_state_broadcaster_params.yaml)
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target_include_directories(test_battery_state_broadcaster PRIVATE include)
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target_link_libraries(test_battery_state_broadcaster
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battery_state_broadcaster
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)
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endif()
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install(
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DIRECTORY include/
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DESTINATION include/battery_state_broadcaster
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)
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install(
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TARGETS
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battery_state_broadcaster
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battery_state_broadcaster_parameters
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EXPORT export_battery_state_broadcaster
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RUNTIME DESTINATION bin
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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)
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ament_export_targets(export_battery_state_broadcaster HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()

‎battery_state_broadcaster/battery_state_broadcaster.xml‎

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<library path="battery_state_broadcaster">
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<class name="battery_state_broadcaster/BatteryStateBroadcaster"
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type="battery_state_broadcaster::BatteryStateBroadcaster" base_class_type="controller_interface::ControllerInterface">
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<description>
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This controller publishes the individual battery state of each battery as control_msgs/BatteryStateArray messages.
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It also publishes the aggregated battery state of all batteries as a single sensor_msgs/BatteryState message.
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</description>
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</class>
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</library>

‎battery_state_broadcaster/doc/userdoc.rst‎

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:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/battery_state_broadcaster/doc/userdoc.rst
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.. _battery_state_broadcaster_userdoc:
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Battery State Broadcaster
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--------------------------------
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The *Battery State Broadcaster* publishes battery status information as ``sensor_msgs/msg/BatteryState`` messages.
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It reads battery-related state interfaces from one or more batteries and exposes them in a standard ROS 2 message format. This allows easy integration with monitoring tools, logging systems, and higher-level decision-making nodes.
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Interfaces
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^^^^^^^^^^^
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The broadcaster can read the following state interfaces from each configured battery:
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- ``battery_voltage`` *(mandatory)* (double)
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- ``battery_temperature`` *(optional)* (double)
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- ``battery_current`` *(optional)* (double)
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- ``battery_charge`` *(optional)* (double)
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- ``battery_percentage`` *(optional)* (double)
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- ``battery_power_supply_status`` *(optional)* (double)
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- ``battery_power_supply_health`` *(optional)* (double)
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- ``battery_present`` *(optional)* (bool)
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Published Topics
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^^^^^^^^^^^^^^^^^^
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The broadcaster publishes two topics:
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- ``~/raw_battery_states`` (``control_msgs/msg/BatteryStateArray``)
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Publishes **per-battery state messages**, containing the raw values for each configured battery.
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- ``~/battery_state`` (``sensor_msgs/msg/BatteryState``)
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Publishes a **single aggregated battery message** representing the combined status across all batteries.
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.. list-table::
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:header-rows: 1
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* - Field
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- ``battery_state``
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- ``raw_battery_states``
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* - ``header.frame_id``
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- Empty
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- Battery name
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* - ``voltage``
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- Mean across all batteries
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- From battery's ``battery_voltage`` interface *(mandatory)* (NaN if unmeasured)
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* - ``temperature``
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- Mean across batteries reporting temperature
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- From battery's ``battery_temperature`` interface if enabled, otherwise nan.
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* - ``current``
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- Mean across batteries reporting current
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- From battery's ``battery_current`` interface if enabled, otherwise nan.
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* - ``charge``
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- Sum across batteries reporting charge
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- From battery's ``battery_charge`` interface if enabled, otherwise nan.
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* - ``capacity``
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- Sum across all batteries
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- From battery's ``capacity`` parameter if provided, otherwise nan.
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* - ``design_capacity``
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- Sum across all batteries
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- From battery's ``design_capacity`` parameter if provided, otherwise nan.
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* - ``percentage``
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- Mean across batteries reporting/calculating percentage
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- From battery's ``battery_percentage`` interface if enabled, otherwise calculated from battery's ``minimum_voltage`` and ``maximum_voltage`` parameters.
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* - ``power_supply_status``
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- Highest reported enum value
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- From battery's ``battery_power_supply_status`` interface if enabled, otherwise 0 (unknown).
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* - ``power_supply_health``
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- Highest reported enum value
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- From battery's ``battery_power_supply_health`` interface if enabled, otherwise 0 (unknown).
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* - ``power_supply_technology``
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- Reported as-is if same across all batteries, otherwise set to *Unknown*
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- From battery's ``power_supply_technology`` parameter if provided, otherwise 0 (unknown).
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* - ``present``
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- True
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- From battery's ``battery_present`` interface if enabled, otherwise true if the battery voltage value is valid (not NaN and not 0.0).
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* - ``cell_voltage``
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- Empty
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- Empty
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* - ``cell_temperature``
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- Empty
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- Empty
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* - ``location``
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- All battery locations appended
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- From battery's ``location`` parameter if provided, otherwise empty.
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* - ``serial_number``
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- All battery serial numbers appended
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- From battery's ``serial_number`` parameter if provided, otherwise empty.
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Parameters
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^^^^^^^^^^^
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This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to manage parameters.
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The parameter `definition file <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/battery_state_broadcaster/src/battery_state_broadcaster_parameters.yaml>`_ contains the full list and descriptions.
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List of parameters
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=========================
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.. generate_parameter_library_details:: ../src/battery_state_broadcaster_parameters.yaml
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Example Parameter File
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=========================
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An example parameter file for this controller is available in the `test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/battery_state_broadcaster/test/battery_state_broadcaster_params.yaml>`_:
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.. literalinclude:: ../test/battery_state_broadcaster_params.yaml
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:language: yaml
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Migration for ``ipa320/ros_battery_monitoring`` users
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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If you were previously using the ``battery_state_broadcaster`` from the ``ipa320/ros_battery_monitoring package``, you can switch directly to this package. The configuration style using ``sensor_name`` is still supported for backward compatibility, but it may be removed in a future release.
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To adapt your setup to the new ``battery_state_broadcaster`` configuration:
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1. Update your hardware interface name from ``voltage`` → ``battery_voltage``.
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2. Convert your controller parameters from
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.. code-block:: yaml
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battery_state_broadcaster:
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ros__parameters:
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sensor_name: "battery_state"
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design_capacity: 100.0
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# https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg
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power_supply_technology: 2
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to:
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.. code-block:: yaml
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battery_state_broadcaster:
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ros__parameters:
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batteries: ["battery_state"]
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battery_state:
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design_capacity: 100.0
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power_supply_technology: 2
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**Notes**:
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- Parameters must provide **either** sensor_name **or** batteries.
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- If both are empty → the broadcaster will fail to configure.
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- If both are set → the broadcaster will throw an error.

‎battery_state_broadcaster/include/battery_state_broadcaster/BatteryStateBroadcaster.hpp‎

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// Copyright (c) 2025, b-robotized Group
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_
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#define BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_
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#pragma message( \
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"BatteryStateBroadcaster.hpp is deprecated, please use battery_state_broadcaster.hpp instead.")
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#include "battery_state_broadcaster/battery_state_broadcaster.hpp"
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#endif // BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_

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