# 电源系统API

## API明细 <a href="#api-ming-xi" id="api-ming-xi"></a>

### 查阅左电池信息 <a href="#cha-yue-zuo-dian-chi-xin-xi" id="cha-yue-zuo-dian-chi-xin-xi"></a>

**功能概述：**&#x8BA2;阅Topic反馈左电池信息

**Topic：**`system/batteries/left`

**Msg Type：**`tita_system_msgs/msg/BatterieStates`

**命令示例：**`ros2 topic echo /[namespace]/system/batteries/left`

### 查阅右电池信息 <a href="#cha-yue-you-dian-chi-xin-xi" id="cha-yue-you-dian-chi-xin-xi"></a>

**功能概述：**&#x8BA2;阅Topic反馈右电池信息

**Topic：**`system/batteries/right`

**Msg Type：**`tita_system_msgs/msg/BatterieStates`

**命令示例：**`ros2 topic echo /[namespace]/system/batteries/right`

### 查阅超级电容信息 <a href="#cha-yue-chao-ji-dian-rong-xin-xi" id="cha-yue-chao-ji-dian-rong-xin-xi"></a>

**功能概述：**&#x8BA2;阅Topic反馈超级电容信息

**Topic：**`system/batteries/super`

**Msg Type：**`tita_system_msgs/msg/BatterieStates`

**命令示例：**`ros2 topic echo /[namespace]/system/batteries/super`

### 查阅电源统计信息 <a href="#cha-yue-dian-yuan-tong-ji-xin-xi" id="cha-yue-dian-yuan-tong-ji-xin-xi"></a>

**功能概述：**&#x8BA2;阅Topic反馈电源统计信息

**Topic：**`system/power_supply/info`

**Msg Type：**`tita_system_msgs/msg/PowerSupplyInfo`

**命令示例：**`ros2 topic echo /[namespace]/system/power_supply/info`

{% hint style="info" %}
打开电源数据上传功能

修改文件 /usr/share/power\_bridges/conf/tita\_power.toml 中的 record\_battery\_info=1 #0关闭 1打开
{% endhint %}
