Is it possible to read a bus voltage from this package?

[Gilocho]

I see that in the documentation it says that it is possible to read the voltage sensor, but I have not been able to find information on how to do it in the documentation and if it is possible to put it in some topic to ros, does anyone know if it is possible to do it and if they have an example or guide to do it? Thanks

[borongyuan]

joint_state_broadcaster has two topics, /joint_states and /dynamic_joint_states. /dynamic_joint_states contains bus voltage and error code.