Status

Message Types

BatteryState

• Fields:
  • charge_percent (int32): State of charge percent from 0 (empty) ~ 100 (full).
  • state (State): Represents the current state of the battery.

• Enums:

  State	Numeric Value	Description
  STATE_UNKNOWN	0	The state is unknown.
  STATE_CHARGING	1	The battery is charging.
  STATE_DISCHARGING	2	The battery is discharging.
  STATE_FULL	3	The battery is fully charged.

OdometryState

• Fields:
  • pose (Pose): Current robot position and orientation
  • twist (Twist): A message containing the linear and angular velocity of the robot.

A positive linear velocity means the robot is moving forward in the direction of the Pose.heading, while a negative is opposite of the Pose.heading.

A positive angular velocity means the robot is turning clockwise when looking from above, and negative is counter-clockwise when looking from above.

If twist is 0, i.e. linear and angular velocities are 0, the robot is stationary.