sensor_msgs/BatteryState Message

从3.7版开始，选择常量以匹配include / linux / power_supply.h中定义的linux内核中的枚举。一个差异是由于样式原因，这些常数均为大写而不是大小写混合。

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 充电状态

uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0 #未知
uint8 POWER_SUPPLY_STATUS_CHARGING = 1 #充电中
uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2 #放电中
uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3 #没有充电
uint8 POWER_SUPPLY_STATUS_FULL = 4 #电池电量已满

Power supply health constants 电源健康状态

uint8 POWER_SUPPLY_HEALTH_UNKNOWN = 0 #未知
uint8 POWER_SUPPLY_HEALTH_GOOD = 1 #电源健康
uint8 POWER_SUPPLY_HEALTH_OVERHEAT = 2 #电源过热
uint8 POWER_SUPPLY_HEALTH_DEAD = 3 #电源已损坏
uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4 #电压过大
uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5 #未知错误
uint8 POWER_SUPPLY_HEALTH_COLD = 6 #电源过冷
uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7 #看门狗定时器到期
uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8 #安全运行时间到期

Power supply technology (chemistry) constants 电源技术（化学）

uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0 #未知
uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1 #镍氢电池
uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2 #锂电池
uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3 #锂聚合物电池
uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4 #锂铁电池
uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5 # 镍镉电池
uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6 #锂离子电池

Header header
float32 voltage # Voltage in Volts (Mandatory) 电压（伏特）（必需）
float32 current # Negative when discharging (A) (If unmeasured NaN) 电流 放电时为负值（A）（如果未测量的NaN）
float32 charge # Current charge in Ah (If unmeasured NaN) 当前的电源容量（以Ah计）
float32 capacity # Capacity in Ah (last full capacity) (If unmeasured NaN) 容量，Ah（上一次满容量）（如果未测量，NaN）
float32 design_capacity # Capacity in Ah (design capacity) (If unmeasured NaN) 容量（设计容量）（如果未测量的NaN）
float32 percentage # Charge percentage on 0 to 1 range (If unmeasured NaN) 电量百分比在0到1的范围内（如果未测量的NaN）
uint8 power_supply_status # The charging status as reported. Values defined above 充电状态，上面定义的值
uint8 power_supply_health # The battery health metric. Values defined above 电源健康状态， 上面定义的值
uint8 power_supply_technology # The battery chemistry. Values defined above 电源技术（化学），上面定义的值
bool present # True if the battery is present 如果有电池，则为真

float32[] cell_voltage # An array of individual cell voltages for each cell in the pack 电池组中每个电池的单个电池电压的阵列
# If individual voltages unknown but number of cells known set each to NaN 如果单个电压未知，但已知电池数，将每个电池电压设置为NaN
string location # The location into which the battery is inserted. (slot number or plug) 电池插入的位置。 （插槽号或插头）
string serial_number # The best approximation of the battery serial number 电池序列号的最佳近似值