ROS2 消息格式 BatteryState

文件：sensor_msgs/msg/BatteryState.msg

消息定义

原始消息定义

# Constants are chosen to match the enums in the linux kernel

# defined in include/linux/power_supply.h as of version 3.7

# The one difference is for style reasons the constants are

# all uppercase not mixed case.


# Power supply status constants

uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0
uint8 POWER_SUPPLY_STATUS_CHARGING = 1
uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2
uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3
uint8 POWER_SUPPLY_STATUS_FULL = 4

# Power supply health constants

uint8 POWER_SUPPLY_HEALTH_UNKNOWN = 0
uint8 POWER_SUPPLY_HEALTH_GOOD = 1
uint8 POWER_SUPPLY_HEALTH_OVERHEAT = 2
uint8 POWER_SUPPLY_HEALTH_DEAD = 3
uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4
uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5
uint8 POWER_SUPPLY_HEALTH_COLD = 6
uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7
uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8

# Power supply technology (chemistry) constants

uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0
uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1
uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2
uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3
uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4
uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5
uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6

std_msgs/Header header
#float32 voltage # Voltage in Volts (Mandatory)

#float32 temperature # Temperature in Degrees Celsius (If unmeasured NaN)

#float32 current # Negative when discharging (A) (If unmeasured NaN)

#float32 charge # Current charge in Ah (If unmeasured NaN)

#float32 capacity # Capacity in Ah (last full capacity) (If unmeasured NaN)

#float32 design_capacity # Capacity in Ah (design capacity) (If unmeasured NaN)

#float32 percentage # Charge percentage on 0 to 1 range (If unmeasured NaN)

#uint8 power_supply_status # The charging status as reported. Values defined above

#uint8 power_supply_health # The battery health metric. Values defined above

#uint8 power_supply_technology # The battery chemistry. Values defined above

#bool present # True if the battery is present


#float32[] cell_voltage # An array of individual cell voltages for each cell in the pack

# # If individual voltages unknown but number of cells known set each to NaN

#float32[] cell_temperature # An array of individual cell temperatures for each cell in the pack

# # If individual temperatures unknown but number of cells known set each to NaN

#string location # The location into which the battery is inserted. (slot number or plug)

#string serial_number # The best approximation of the battery serial number

紧凑消息定义

uint8 POWER_SUPPLY_STATUS_UNKNOWN=0
uint8 POWER_SUPPLY_STATUS_CHARGING=1
uint8 POWER_SUPPLY_STATUS_DISCHARGING=2
uint8 POWER_SUPPLY_STATUS_NOT_CHARGING=3
uint8 POWER_SUPPLY_STATUS_FULL=4
uint8 POWER_SUPPLY_HEALTH_UNKNOWN=0
uint8 POWER_SUPPLY_HEALTH_GOOD=1
uint8 POWER_SUPPLY_HEALTH_OVERHEAT=2
uint8 POWER_SUPPLY_HEALTH_DEAD=3
uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE=4
uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE=5
uint8 POWER_SUPPLY_HEALTH_COLD=6
uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE=7
uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE=8
uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN=0
uint8 POWER_SUPPLY_TECHNOLOGY_NIMH=1
uint8 POWER_SUPPLY_TECHNOLOGY_LION=2
uint8 POWER_SUPPLY_TECHNOLOGY_LIPO=3
uint8 POWER_SUPPLY_TECHNOLOGY_LIFE=4
uint8 POWER_SUPPLY_TECHNOLOGY_NICD=5
uint8 POWER_SUPPLY_TECHNOLOGY_LIMN=6
std_msgs/msg/Header header
float voltage
float temperature
float current
float charge
float capacity
float design_capacity
float percentage
uint8 power_supply_status
uint8 power_supply_health
uint8 power_supply_technology
boolean present
float[] cell_voltage
float[] cell_temperature
string location
string serial_number