ros2_medkit_msgs

ROS 2 message and service definitions for ros2_medkit fault management

• Links
  • Rosindex
  • Repository

• Message Definitions
  • ClusterInfo
  • EnvironmentData
  • ExtendedDataRecords
  • Fault
  • FaultEvent
  • MedkitDiscoveryHint
  • MutedFaultInfo
  • Snapshot
• Service Definitions
  • ClearFault
  • GetFault
  • GetRosbag
  • GetSnapshots
  • ListFaults
  • ListFaultsForEntity
  • ListRosbags
  • ReportFault
• Standard Documents
  • README
  • PACKAGE
  • CHANGELOG
• ROS Package Dependencies
  • rosidl_default_runtime
  • builtin_interfaces
  • diagnostic_msgs

README

ros2_medkit_msgs

ROS 2 message and service definitions for the ros2_medkit fault management system.

Overview

This package provides the interface definitions used by the fault management components:

• FaultManager (ros2_medkit_fault_manager) - Central fault aggregation and lifecycle management

• FaultReporter (ros2_medkit_fault_reporter) - Client library for fault reporting

• Gateway (ros2_medkit_gateway) - REST API endpoints for fault access

Messages

Fault.msg

Core fault data model representing an aggregated fault condition with AUTOSAR DEM-style debounce filtering.

Field	Type	Description
fault_code	string	Global fault identifier (e.g., “MOTOR_OVERHEAT”)
severity	uint8	Severity level (use SEVERITY_* constants)
description	string	Human-readable description
first_occurred	builtin_interfaces/Time	When fault was first reported
last_occurred	builtin_interfaces/Time	When fault was last reported (FAILED or PASSED)
occurrence_count	uint32	Total FAILED events aggregated across all sources
status	string	Current status (see STATUS_* constants)
reporting_sources	string[]	List of source identifiers that reported this fault

Severity Levels:

Constant	Value	Description
SEVERITY_INFO	0	Informational, no action required
SEVERITY_WARN	1	May require attention, no impact on functionality
SEVERITY_ERROR	2	Impacts functionality, requires intervention
SEVERITY_CRITICAL	3	Severe, may compromise safety or system operation. Bypasses debounce.

Status Constants:

Constant	Description
STATUS_PREFAILED	Debounce counter < 0 but above confirmation threshold
STATUS_PREPASSED	Debounce counter > 0 but below healing threshold
STATUS_CONFIRMED	Fault confirmed (counter <= threshold, e.g., -3)
STATUS_HEALED	Fault healed by PASSED events (if healing enabled)
STATUS_CLEARED	Fault manually cleared via ClearFault service

Status Lifecycle (Debounce Model):

PREFAILED ←→ PREPASSED → HEALED (retained)
    ↓
CONFIRMED → CLEARED (manual)

• FAILED events decrement counter (towards confirmation)

• PASSED events increment counter (towards healing)

• CRITICAL severity bypasses debounce and confirms immediately

FaultEvent.msg

Real-time fault event notification for SSE streaming (published on /fault_manager/events).

Field	Type	Description
event_type	string	Event type (see constants below)
fault	Fault	The fault data (state after event)
timestamp	builtin_interfaces/Time	When the event occurred

Event Types:

Constant	Trigger
EVENT_CONFIRMED	Fault transitions PREFAILED → CONFIRMED
EVENT_CLEARED	Fault transitions to CLEARED
EVENT_UPDATED	Fault data changes without status transition

Services

ReportFault.srv

Report a fault event (FAILED or PASSED) to the FaultManager.

Request:

Field	Type	Description
fault_code	string	Global identifier (UPPER_SNAKE_CASE, max 64 chars)
event_type	uint8	Event type: EVENT_FAILED (0) or EVENT_PASSED (1)
severity	uint8	Severity level (0-3, only for FAILED events)
description	string	Human-readable description (only for FAILED events)
source_id	string	Reporting node FQN (e.g., “/powertrain/engine/temp_sensor”)

Response:

Field	Type	Description
accepted	bool	True if the event was accepted

Event Types:

• EVENT_FAILED (0): Fault condition detected - decrements debounce counter

• EVENT_PASSED (1): Fault condition cleared - increments debounce counter

ListFaults.srv

Query faults with optional filtering.

Request:

Field	Type	Description
filter_by_severity	bool	If true, filter by severity field; if false, return all severities
severity	uint8	Severity level (0-3), only used if filter_by_severity is true
statuses	string[]	Statuses to include (empty = CONFIRMED only)

Response:

Field	Type	Description
faults	Fault[]	Matching faults

Examples:

• Default (active faults): filter_by_severity=false, statuses=[] → all CONFIRMED faults

• Only errors: filter_by_severity=true, severity=2, statuses=[] → CONFIRMED with ERROR

• All faults: filter_by_severity=false, statuses=["PREFAILED", "CONFIRMED", "CLEARED"]

• Historical: filter_by_severity=false, statuses=["CLEARED"]

ClearFault.srv

Clear/acknowledge a fault. Cleared faults are retained and queryable with statuses=["CLEARED"].

Request:

Field	Type	Description
fault_code	string	The fault to clear

Response:

Field	Type	Description
success	bool	True if fault was cleared
message	string	Status or error message

Usage

C++

#include "ros2_medkit_msgs/msg/fault.hpp"
#include "ros2_medkit_msgs/srv/report_fault.hpp"

// Create a fault message
ros2_medkit_msgs::msg::Fault fault;
fault.fault_code = "MOTOR_OVERHEAT";
fault.severity = ros2_medkit_msgs::msg::Fault::SEVERITY_ERROR;
fault.status = ros2_medkit_msgs::msg::Fault::STATUS_CONFIRMED;

Python

from ros2_medkit_msgs.msg import Fault
from ros2_medkit_msgs.srv import ReportFault

# Create a fault message
fault = Fault()
fault.fault_code = "MOTOR_OVERHEAT"
fault.severity = Fault.SEVERITY_ERROR
fault.status = Fault.STATUS_CONFIRMED

Building

colcon build --packages-select ros2_medkit_msgs
source install/setup.bash  # or setup.zsh for zsh users

Verifying

ros2 interface show ros2_medkit_msgs/msg/Fault
ros2 interface show ros2_medkit_msgs/srv/ReportFault

License

Apache-2.0