cozmo_driver.py 文件源码

def _publish_battery(self):
        """
        Publish battery as BatteryState message.

        """
        # only publish if we have a subscriber
        if self._battery_pub.get_num_connections() == 0:
            return

        battery = BatteryState()
        battery.header.stamp = rospy.Time.now()
        battery.voltage = self._cozmo.battery_voltage
        battery.present = True
        if self._cozmo.is_on_charger:  # is_charging always return False
            battery.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING
        else:
            battery.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_NOT_CHARGING
        self._battery_pub.publish(battery)