ros2_medkit_diagnostic_bridge

Bridge node converting ROS2 /diagnostics to FaultManager faults

README

ros2_medkit_diagnostic_bridge

Bridge node that converts ROS2 /diagnostics messages to FaultManager faults.

Overview

This package provides backwards compatibility with existing ROS2 diagnostic infrastructure. It subscribes to the standard /diagnostics topic and forwards diagnostic status messages to the FaultManager as faults.

Severity Mapping

DiagnosticStatus Level	Fault Severity	Action
OK (0)	-	Sends PASSED event (healing)
WARN (1)	WARN (1)	Reports fault
ERROR (2)	ERROR (2)	Reports fault
STALE (3)	CRITICAL (3)	Reports fault

Quick Start

# Start FaultManager first
ros2 run ros2_medkit_fault_manager fault_manager_node

# Start DiagnosticBridge
ros2 run ros2_medkit_diagnostic_bridge diagnostic_bridge_node

Configuration

Parameters

Parameter	Type	Default	Description
`diagnostics_topic`	string	`/diagnostics`	Topic to subscribe to
`auto_generate_codes`	bool	`true`	Auto-generate fault codes from diagnostic names
`name_to_code.<name>`	string	-	Custom mapping from diagnostic name to fault code

Example Configuration

diagnostic_bridge:
  ros__parameters:
    diagnostics_topic: "/diagnostics"
    auto_generate_codes: true

    # Custom mappings (optional)
    # Format: "name_to_code.<diagnostic_name>": "<FAULT_CODE>"
    "name_to_code.motor_controller: Temperature": "MOTOR_OVERHEAT"
    "name_to_code.battery_monitor: Voltage": "BATTERY_LOW"

Fault Code Generation

When auto_generate_codes is enabled, diagnostic names are converted to fault codes:

Diagnostic Name	Generated Fault Code
`motor temp`	`MOTOR_TEMP`
`motor: Status`	`MOTOR_STATUS`
`/robot/sensor`	`ROBOT_SENSOR`

Custom mappings in name_to_code take priority over auto-generation.

Launch

# Using launch file with default config
ros2 launch ros2_medkit_diagnostic_bridge diagnostic_bridge.launch.py

# With custom config
ros2 launch ros2_medkit_diagnostic_bridge diagnostic_bridge.launch.py \
    config_file:=/path/to/custom_config.yaml

Integration with FaultManager

For full healing support, configure FaultManager with:

fault_manager:
  ros__parameters:
    healing_enabled: true
    healing_threshold: 1

When a diagnostic transitions from ERROR/STALE to OK, the bridge sends a PASSED event, allowing the fault to heal in FaultManager.

Building

colcon build --packages-select ros2_medkit_diagnostic_bridge

Testing

colcon test --packages-select ros2_medkit_diagnostic_bridge
colcon test-result --verbose

License

Apache-2.0