Add battery_state_broadcaster (backport #2086)

battery_state_broadcaster/CHANGELOG.rst

@@ -0,0 +1,28 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package battery_state_broadcaster
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+
+The entries below refer to the standalone `ipa320/ros_battery_monitoring <https://github.com/ipa320/ros_battery_monitoring>`_ package,
+from which this broadcaster originates.
+
+1.1.0 (2025-09-26)
+------------------
+* address deprecations in ros2_control for kilted
+* Don't make a temporary copy of semantic component (`#9 <https://github.com/ipa320/ros_battery_monitoring/pull/9>`_)
+* Contributors: Christoph Froehlich, Jonas Otto
+
+1.0.2 (2025-06-01)
+------------------
+* Replace ament_target_dependencies with target_link_libraries (`#6 <https://github.com/ipa320/ros_battery_monitoring/issues/6>`_)
+* Contributors: Alejandro Hernandez Cordero, Jonas Otto
+
+1.0.1 (2025-02-06)
+------------------
+* fix realtime_tools include
+* Contributors: Jonas Otto
+
+1.0.0 (2024-08-14)
+------------------
+* initial release
+* Contributors: Jonas Otto

battery_state_broadcaster/CMakeLists.txt

@@ -0,0 +1,104 @@
+cmake_minimum_required(VERSION 3.10)
+project(battery_state_broadcaster)
+
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  controller_interface
+  hardware_interface
+  generate_parameter_library
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  rcpputils
+  realtime_tools
+  sensor_msgs
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
+
+generate_parameter_library(battery_state_broadcaster_parameters
+  src/battery_state_broadcaster_parameters.yaml
+)
+
+add_library(
+  battery_state_broadcaster
+  SHARED
+  src/battery_state_broadcaster.cpp
+)
+
+target_compile_features(battery_state_broadcaster PUBLIC cxx_std_17)
+target_include_directories(battery_state_broadcaster
+  PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/battery_state_broadcaster>
+)
+target_link_libraries(battery_state_broadcaster PUBLIC
+                      battery_state_broadcaster_parameters
+                      controller_interface::controller_interface
+                      hardware_interface::hardware_interface
+                      pluginlib::pluginlib
+                      rclcpp::rclcpp
+                      rclcpp_lifecycle::rclcpp_lifecycle
+                      rcpputils::rcpputils
+                      realtime_tools::realtime_tools
+                      ${control_msgs_TARGETS}
+                      ${sensor_msgs_TARGETS}
+                      ${builtin_interfaces_TARGETS})
+
+
+pluginlib_export_plugin_description_file(
+  controller_interface battery_state_broadcaster.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(hardware_interface REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+  ament_add_gmock(test_load_battery_state_broadcaster test/test_load_battery_state_broadcaster.cpp)
+  target_include_directories(test_load_battery_state_broadcaster PRIVATE include)
+  target_link_libraries(test_load_battery_state_broadcaster
+    battery_state_broadcaster
+    controller_manager::controller_manager
+    hardware_interface::hardware_interface
+    rclcpp::rclcpp
+    ros2_control_test_assets::ros2_control_test_assets
+  )
+
+  add_rostest_with_parameters_gmock(test_battery_state_broadcaster
+    test/test_battery_state_broadcaster.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/battery_state_broadcaster_params.yaml)
+  target_include_directories(test_battery_state_broadcaster PRIVATE include)
+  target_link_libraries(test_battery_state_broadcaster
+    battery_state_broadcaster
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/battery_state_broadcaster
+)
+install(
+  TARGETS
+    battery_state_broadcaster
+    battery_state_broadcaster_parameters
+  EXPORT export_battery_state_broadcaster
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+ament_export_targets(export_battery_state_broadcaster HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

battery_state_broadcaster/battery_state_broadcaster.xml

@@ -0,0 +1,9 @@
+<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 individual battery state of each battery as control_msgs/BatteryStateArray messages.
+    It also publishes the aggregated battery state of all batteries as a single sensor_msgs/BatteryState message.
+  </description>
+  </class>
+</library>

battery_state_broadcaster/doc/userdoc.rst

@@ -0,0 +1,144 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/battery_state_broadcaster/doc/userdoc.rst
+
+.. _battery_state_broadcaster_userdoc:
+
+Battery State Broadcaster
+--------------------------------
+The *Battery State Broadcaster* publishes battery status information as ``sensor_msgs/msg/BatteryState`` messages.
+
+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.
+
+Interfaces
+^^^^^^^^^^^
+
+The broadcaster can read the following state interfaces from each configured battery:
+
+- ``battery_voltage`` *(mandatory)* (double)
+- ``battery_temperature`` *(optional)* (double)
+- ``battery_current`` *(optional)* (double)
+- ``battery_charge`` *(optional)* (double)
+- ``battery_percentage`` *(optional)* (double)
+- ``battery_power_supply_status`` *(optional)* (double)
+- ``battery_power_supply_health`` *(optional)* (double)
+- ``battery_present`` *(optional)* (bool)
+
+Published Topics
+^^^^^^^^^^^^^^^^^^
+
+The broadcaster publishes two topics:
+
+- ``~/raw_battery_states`` (``control_msgs/msg/BatteryStateArray``)
+  Publishes **per-battery state messages**, containing the raw values for each configured battery.
+
+- ``~/battery_state`` (``sensor_msgs/msg/BatteryState``)
+  Publishes a **single aggregated battery message** representing the combined status across all batteries.
+
+.. list-table::
+   :header-rows: 1
+
+   * - Field
+     - ``battery_state``
+     - ``raw_battery_states``
+   * - ``header.frame_id``
+     - Empty
+     - Battery name
+   * - ``voltage``
+     - Mean across all batteries
+     - From battery's ``battery_voltage`` interface *(mandatory)* (NaN if unmeasured)
+   * - ``temperature``
+     - Mean across batteries reporting temperature
+     - From battery's ``battery_temperature`` interface if enabled, otherwise nan.
+   * - ``current``
+     - Mean across batteries reporting current
+     - From battery's ``battery_current`` interface if enabled, otherwise nan.
+   * - ``charge``
+     - Sum across batteries reporting charge
+     - From battery's ``battery_charge`` interface if enabled, otherwise nan.
+   * - ``capacity``
+     - Sum across all batteries
+     - From battery's ``capacity`` parameter if provided, otherwise nan.
+   * - ``design_capacity``
+     - Sum across all batteries
+     - From battery's ``design_capacity`` parameter if provided, otherwise nan.
+   * - ``percentage``
+     - Mean across batteries reporting/calculating percentage
+     - From battery's ``battery_percentage`` interface if enabled, otherwise calculated from battery's ``minimum_voltage`` and ``maximum_voltage`` parameters.
+   * - ``power_supply_status``
+     - Highest reported enum value
+     - From battery's ``battery_power_supply_status`` interface if enabled, otherwise 0 (unknown).
+   * - ``power_supply_health``
+     - Highest reported enum value
+     - From battery's ``battery_power_supply_health`` interface if enabled, otherwise 0 (unknown).
+   * - ``power_supply_technology``
+     - Reported as-is if same across all batteries, otherwise set to *Unknown*
+     - From battery's ``power_supply_technology`` parameter if provided, otherwise 0 (unknown).
+   * - ``present``
+     - True
+     - From battery's ``battery_present`` interface if enabled, otherwise true if the battery voltage value is valid (not NaN and not 0.0).
+   * - ``cell_voltage``
+     - Empty
+     - Empty
+   * - ``cell_temperature``
+     - Empty
+     - Empty
+   * - ``location``
+     - All battery locations appended
+     - From battery's ``location`` parameter if provided, otherwise empty.
+   * - ``serial_number``
+     - All battery serial numbers appended
+     - From battery's ``serial_number`` parameter if provided, otherwise empty.
+
+
+Parameters
+^^^^^^^^^^^
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to manage parameters.
+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.
+
+List of parameters
+=========================
+.. generate_parameter_library_details:: ../src/battery_state_broadcaster_parameters.yaml
+
+Example Parameter File
+=========================
+
+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>`_:
+
+.. literalinclude:: ../test/battery_state_broadcaster_params.yaml
+   :language: yaml
+
+Migration for ``ipa320/ros_battery_monitoring`` users
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+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.
+
+To adapt your setup to the new ``battery_state_broadcaster`` configuration:
+
+1. Update your hardware interface name from ``voltage`` → ``battery_voltage``.
+
+2. Convert your controller parameters from
+
+  .. code-block:: yaml
+
+    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
+
+  to:
+
+  .. code-block:: yaml
+
+    battery_state_broadcaster:
+      ros__parameters:
+        batteries: ["battery_state"]
+        battery_state:
+          design_capacity: 100.0
+          power_supply_technology: 2
+
+**Notes**:
+
+- Parameters must provide **either** sensor_name **or** batteries.
+- If both are empty → the broadcaster will fail to configure.
+- If both are set → the broadcaster will throw an error.

battery_state_broadcaster/include/battery_state_broadcaster/BatteryStateBroadcaster.hpp

@@ -0,0 +1,23 @@
+// Copyright (c) 2025, b-robotized Group
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_
+#define BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_
+
+#pragma message( \
+  "BatteryStateBroadcaster.hpp is deprecated, please use battery_state_broadcaster.hpp instead.")
+
+#include "battery_state_broadcaster/battery_state_broadcaster.hpp"
+
+#endif  // BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_