add BatteryStates msg

[YaraShahin]

This PR introduces a new message definition: BatteryStates.

• BatteryStates contains an array of sensor_msgs/msg/BatteryState messages.
• The purpose is to support broadcasting the status of multiple batteries from a single controller.
• This message will be used by the upcoming battery_state_broadcaster in ros2_controllers.

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[christophfroehlich]

For reference, there is an ongoing discussion in extending the upstream message
ros2/common_interfaces#299

[YaraShahin]

For reference, there is an ongoing discussion in extending the upstream message ros2/common_interfaces#299

Thanks for the pointer! I had a look at ros2/common_interfaces#299, from what I see, that discussion is about extending the fields inside sensor_msgs/BatteryState.

My PR here is introducing BatteryStates, which is just a container for multiple BatteryState messages. As long as the upstream keeps the existing fields (and only adds new ones), this stays fully compatible.

In my use case (Battery State Broadcaster), I can later extend the broadcaster to also publish any new fields that get added upstream, but that doesn’t affect the current functionality of this message.

[nnarain]

As part of the work @cmccrave-CPR is working on we also need a topic with a list of battery states. So this work will be useful to us as well

[saikishor]

Shouldn't this be in the sensor_msgs itself?.

I understand that this is made for the broadcaster, but we can always create multiple instances of the broadcaster to publish info on multiple topics in the meantime

[YaraShahin]

Shouldn't this be in the sensor_msgs itself?.

I understand that this is made for the broadcaster, but we can always create multiple instances of the broadcaster to publish info on multiple topics in the meantime

Thanks @saikishor for your comment. I see what you mean, but running multiple broadcaster instances wouldn't quite work for this use case. The broadcaster not only publishes multiple battery states, but also performs aggregation across all batteries.

Specifically, it publishes:

• A control_msgs/BatteryStates message for each battery (array of per-battery data).

• An aggregated sensor_msgs/BatteryState message with system-level metrics (averages, sums, combined status and health).

With separate broadcaster instances, you'd only get the individual battery states and lose the synchronized, aggregated system-level view — which is one of the core features.

I kept BatteryStates in control_msgs since it’s specific to the broadcaster and how it structures its multi-battery data but I’m open to moving it if you think sensor_msgs would make more sense long-term.

[saikishor]

@YaraShahin Let's try to aim for the upstream sensor_msgs/BatteryStates, if they are taking much longer, then we can go through this path. If you had this usecase, others might have it too. That's why it is better in the sensor_msgs.

What do you think?

[YaraShahin]

@YaraShahin Let's try to aim for the upstream sensor_msgs/BatteryStates, if they are taking much longer, then we can go through this path. If you had this usecase, others might have it too. That's why it is better in the sensor_msgs.

What do you think?

Thank you @saikishor for the suggestion; yes, I agree it would make more sense there together with the original BatteryState message. I will prepare the new PR and the changes to the broadcaster, and attach it here as well. I'm not sure if we should close this PR now then, or wait for the other one, so please let me know what you think.

[saikishor]

Thank you @saikishor for the suggestion; yes, I agree it would make more sense there together with the original BatteryState message. I will prepare the new PR and the changes to the broadcaster, and attach it here as well. I'm not sure if we should close this PR now then, or wait for the other one, so please let me know what you think.

Thank you @YaraShahin. Let's wait for the other one. I don't mind leaving this open in the meantime

[YaraShahin]

@saikishor I've opened the sensor_msgs PR and already updated the broadcaster to use it:

• sensor_msgs PR: Add BatteryStates msg ros2/common_interfaces#302
• Updated broadcaster: Add Battery State Broadcaster controller ros2_controllers#1888

Thanks for the guidance!

[christophfroehlich]

Thanks for the follow-up.