Class DiagnosticBridgeNode

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class DiagnosticBridgeNode : public rclcpp::Node

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

Subscribes to /diagnostics topic and forwards diagnostic status messages to the FaultManager via the ReportFault service.

Severity mapping:

  • OK (0) -> PASSED event (healing)

  • WARN (1) -> WARN severity (1)

  • ERROR (2) -> ERROR severity (2)

  • STALE (3) -> CRITICAL severity (3)

Example launch configuration: 

diagnostic_bridge:
  ros__parameters:
    diagnostics_topic: "/diagnostics"
    auto_generate_codes: true
    # Custom mappings: "name_to_code.<diagnostic_name>": "<FAULT_CODE>"
    "name_to_code.motor_controller: Status": "MOTOR_001"

Public Functions

explicit DiagnosticBridgeNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
std::string map_to_fault_code(const std::string &diagnostic_name) const

Map diagnostic name to fault code Uses custom mapping if available, otherwise auto-generates from name

Public Static Functions

static std::optional<uint8_t> map_to_severity(uint8_t diagnostic_level)

Map DiagnosticStatus level to Fault severity Returns std::nullopt if level is OK (should send PASSED instead)

static bool is_ok_level(uint8_t diagnostic_level)

Check if diagnostic level indicates OK status.