Add battery_state_broadcaster by christophfroehlich · Pull Request #2086 · ros-controls/ros2_controllers

christophfroehlich · 2025-12-31T09:16:19Z

This moves https://github.com/ipa320/ros_battery_monitoring/tree/main/battery_state_broadcaster to our repository.

For discsussion about this, see #1888 and especially #1888 (comment)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

…et_dependencies Replace ament_target_dependencies with target_link_libraries

Don't make a temporary copy of semantic component

Recent commit in realtime_tools [1] causes the following compilation failure: battery_state_broadcaster/src/BatteryStateBroadcaster.cpp:28:24: error: ‘sensor_msgs::msg::BatteryState_<std::allocator<void> > realtime_tools::RealtimePublisher<sensor_msgs::msg::BatteryState_<std::allocator<void> > >::msg_’ is private within this context This commit fixes that. [1]: ros-controls/realtime_tools@9e26e41

Fix compile error with latest realtime_tools

…adcaster

codecov · 2025-12-31T10:05:06Z

Codecov Report

❌ Patch coverage is 84.57584% with 60 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.82%. Comparing base (be6f504) to head (cd12b2b).
⚠️ Report is 7 commits behind head on master.

Files with missing lines	Patch %	Lines
...tate_broadcaster/src/battery_state_broadcaster.cpp	77.21%	29 Missing and 25 partials ⚠️
...roadcaster/test/test_battery_state_broadcaster.hpp	92.59%	1 Missing and 5 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2086      +/-   ##
==========================================
- Coverage   86.85%   86.82%   -0.03%     
==========================================
  Files         148      152       +4     
  Lines       16267    16656     +389     
  Branches     1367     1411      +44     
==========================================
+ Hits        14128    14462     +334     
- Misses       1632     1656      +24     
- Partials      507      538      +31

Flag	Coverage Δ
unittests	`86.82% <84.57%> (-0.03%)`	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...roadcaster/test/test_battery_state_broadcaster.cpp	`100.00% <100.00%> (ø)`
...aster/test/test_load_battery_state_broadcaster.cpp	`100.00% <100.00%> (ø)`
...roadcaster/test/test_battery_state_broadcaster.hpp	`92.59% <92.59%> (ø)`
...tate_broadcaster/src/battery_state_broadcaster.cpp	`77.21% <77.21%> (ø)`

... and 1 file with indirect coverage changes

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MichaelT64 · 2026-03-17T10:31:22Z

@christophfroehlich are there any further plans for this?

christophfroehlich · 2026-03-17T12:32:00Z

Please have a look in #1888 and leave your review there.

github-actions · 2026-05-01T14:34:10Z

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

Copilot

Pull request overview

Copilot reviewed 16 out of 16 changed files in this pull request and generated 4 comments.

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

and rename member variables

saikishor

Some nitpicks

saikishor · 2026-07-31T21:28:02Z

+    for (size_t i = 0; i < params_.batteries.size(); ++i)
+    {
+      const auto & interfaces = params_.interfaces.batteries_map.at(params_.batteries.at(i));
+
+      raw_battery_states_msg_.battery_states[i].header.stamp = time;
+
+      raw_battery_states_msg_.battery_states[i].voltage = static_cast<float>(
+        state_interfaces_[interface_cnt].get_optional<double>().value_or(kUninitializedValue));
+      sums_.voltage_sum += raw_battery_states_msg_.battery_states[i].voltage;
+      interface_cnt++;
+
+      if (interfaces.battery_temperature)
+      {
+        raw_battery_states_msg_.battery_states[i].temperature = static_cast<float>(
+          state_interfaces_[interface_cnt].get_optional<double>().value_or(kUninitializedValue));


In the math here, I've a question, what if one of the battery doesn't have the interface, then we are summing NaN and resulting in the bad mean right?

But interfaces.battery_temperature only is true if the interface exists?

What I mean is, what if it might be true for some of the batteries but not each of them?

interfaces is a map with an entry for every battery?

I believe so

that's what I mean: If it is not available for certain batteries and configured properly, than it won't accumulate NaN here?

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

saikishor

Left some comments

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>

ottojo and others added 18 commits July 22, 2024 16:37

initial commit

b481dcc

update changelog

44ef76f

1.0.0

b9afbf5

fix realtime_tools include

c6b8216

changelog

d8c9339

1.0.1

d7068f3

Replace ament_target_dependencies with target_link_libraries

6f49fe8

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Merge pull request #6 from ahcorde/ahcorde/rolling/replace_ament_targ…

0823f67

…et_dependencies Replace ament_target_dependencies with target_link_libraries

update changelog

c241504

1.0.2

1f7717f

Don't make a temporary copy

fcd8c5b

Merge pull request #9 from christophfroehlich/fix/semantic_component

cfe83f8

Don't make a temporary copy of semantic component

address deprecations in ros2_control for kilted

fdacb10

Merge branch 'main' of github.com:ipa320/ros_battery_monitoring

2bdbd6d

changelog

08f289c

1.1.0

629f2b0

Merge pull request #12 from wentasah/realtime_tools_fix

f7a6fd9

Fix compile error with latest realtime_tools

christophfroehlich added this to Review triage Dec 31, 2025

christophfroehlich added backport-jazzy Triggers PR backport to ROS 2 jazzy. backport-kilted Triggers PR backport to ROS 2 kilted. labels Dec 31, 2025

christophfroehlich moved this to WIP in Review triage Dec 31, 2025

christophfroehlich mentioned this pull request Dec 31, 2025

Add Battery State Broadcaster controller #1888

Merged

6 tasks

Merge remote-tracking branch 'target/main' into add/battery_state_bro…

0586e63

…adcaster

christophfroehlich added 2 commits December 31, 2025 10:14

Convert docs to rst

7561656

Add doc folder

6d986a6

Copilot AI reviewed Jul 24, 2026

View reviewed changes

christophfroehlich and others added 5 commits July 24, 2026 10:56

Apply suggestions from code review

d7ca3ee

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Fix rst syntax

0566166

Don't publish in lifecycle transitions

df4adcc

and rename member variables

Waits until take returns true

385fa9e

Merge branch 'master' into feature/battery_state_broadcaster

bbbe5ca

christophfroehlich mentioned this pull request Jul 29, 2026

Fix branch filters for PRs from a feature branch #2496

Merged

saikishor requested changes Jul 31, 2026

View reviewed changes

github-project-automation Bot moved this from Needs review to WIP in Review triage Jul 31, 2026

Apply suggestion from @saikishor

6aedd94

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

christophfroehlich requested a review from saikishor August 1, 2026 05:33

christophfroehlich moved this from WIP to Needs review in Review triage Aug 1, 2026

saikishor reviewed Aug 1, 2026

View reviewed changes

Add tests for legacy config

cd12b2b

christophfroehlich requested a review from saikishor August 1, 2026 07:41

christophfroehlich added the check-prerelease Runs the pre-release workflow without downstream dependencies label Aug 1, 2026

saikishor approved these changes Aug 3, 2026

View reviewed changes

christophfroehlich merged commit 5b2e1ca into master Aug 3, 2026
46 of 49 checks passed

christophfroehlich deleted the feature/battery_state_broadcaster branch August 3, 2026 19:56

github-project-automation Bot moved this from Needs review to Done in Review triage Aug 3, 2026

This was referenced Aug 3, 2026

Add battery_state_broadcaster (backport #2086) #2521

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Add battery_state_broadcaster (backport #2086) #2522

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