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The qrb_ros_battery package communicates with the battery service through DBus. The battery service gets the current battery status by accessing the sys nodes.

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Pipeline flow for qrb_ros_battery

The following figure shows the pipeline flow for qrb_ros_battery.
QRB ROS Battery node wrapping the battery package, collecting voltage, temperature, current, charge, and capacity, and publishing /battery_stats.

The qrb_ros_battery pipeline.

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ROS nodes used in the qrb_ros_battery pipeline

The following table lists the ROS nodes used in the qrb_ros_battery pipeline and describes what each node does.

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ROS topic used in the qrb_ros_battery pipeline

The following table lists the ROS topics used in the qrb_ros_battery pipeline, with the message type and a description of each topic.

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Prerequisites

You have set up the device, installed ROS2 Jazzy and the Qualcomm Intelligent Robotics (QIR) SDK on the device according to Install the QIR SDK.

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Run out-of-the-box qrb_ros_battery

1

Run the battery node

Run the battery node
2

Get the topic of this node

List the ROS topics
3

Echo the battery information

Echo the battery topic

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Example output

The following figure shows the terminal output of ros2 topic echo /battery_stats.
Terminal output of the battery_stats topic listing voltage, temperature, current, charge, capacity, percentage, power supply status, and serial number.