diff --git a/docs/APIReviewFoxy.md b/docs/APIReviewFoxy.md
index b00b4fce..49fce2d3 100644
--- a/docs/APIReviewFoxy.md
+++ b/docs/APIReviewFoxy.md
@@ -233,6 +233,7 @@ Msg
 
 
 *   [https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/BatteryState.msg](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/BatteryState.msg)
+*   [https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/BatteryStates.msg](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/BatteryStates.msg)
 *   [https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
 *   [https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/ChannelFloat32.msg](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/ChannelFloat32.msg)
 *   [https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CompressedImage.msg](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CompressedImage.msg)
diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt
index 530141e3..d3233862 100644
--- a/sensor_msgs/CMakeLists.txt
+++ b/sensor_msgs/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(std_msgs REQUIRED)
 
 set(msg_files
   "msg/BatteryState.msg"
+  "msg/BatteryStates.msg"
   "msg/CameraInfo.msg"
   "msg/ChannelFloat32.msg"
   "msg/CompressedImage.msg"
diff --git a/sensor_msgs/README.md b/sensor_msgs/README.md
index 7385aaad..6d742d39 100644
--- a/sensor_msgs/README.md
+++ b/sensor_msgs/README.md
@@ -17,6 +17,7 @@ This package provides some common C++ functionality relating to manipulating a c
 
 ## Messages (.msg)
 * [BatteryState](msg/BatteryState.msg): Describes the power state of the battery.
+* [BatteryStates](msg/BatteryStates.msg): An array of BatteryState messages.
 * [CameraInfo](msg/CameraInfo.msg): Meta information for a camera.
 * [ChannelFloat32](msg/ChannelFloat32.msg): Holds optional data associated with each point in a PointCloud message.
 * [CompressedImage](msg/CompressedImage.msg): A compressed image.
diff --git a/sensor_msgs/msg/BatteryStates.msg b/sensor_msgs/msg/BatteryStates.msg
new file mode 100644
index 00000000..bd9a013e
--- /dev/null
+++ b/sensor_msgs/msg/BatteryStates.msg
@@ -0,0 +1,2 @@
+# This message publishes values for multiple batteries at once.
+BatteryState[] battery_states