Update battery_state_broadcaster/src/battery_state_broadcaster.cpp

YaraShahin · bmagyar · Yara Shahin · commit 38a44390d504 · 2025-10-07T16:47:05.000+03:00
Co-authored-by: Bence Magyar &lt;bence.magyar.robotics@gmail.com&gt;
diff --git a/battery_state_broadcaster/src/battery_state_broadcaster.cpp b/battery_state_broadcaster/src/battery_state_broadcaster.cpp
@@ -367,7 +367,7 @@ controller_interface::return_type BatteryStateBroadcaster::update(
         auto opt = state_interfaces_[interface_cnt].get_optional<bool>();
         if (opt.has_value())
         {
-          raw_battery_states_msg.battery_states[i].present = static_cast<bool>(*opt);
+          raw_battery_states_msg.battery_states[i].present = opt->value();
         }
         else
         {

Original file line number	Diff line number	Diff line change
`@@ -367,7 +367,7 @@ controller_interface::return_type BatteryStateBroadcaster::update(`
`367`	`367`	`auto opt = state_interfaces_[interface_cnt].get_optional<bool>();`
`368`	`368`	`if (opt.has_value())`
`369`	`369`	`{`
`370`		`- raw_battery_states_msg.battery_states[i].present = static_cast<bool>(*opt);`
	`370`	`+ raw_battery_states_msg.battery_states[i].present = opt->value();`
`371`	`371`	`}`
`372`	`372`	`else`
`373`	`373`	`{`