GetSnapshots

This is a ROS service definition.

Source

# Copyright 2026 mfaferek93
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# GetSnapshots.srv - Retrieve topic snapshots captured when a fault was confirmed.
#
# Returns topic data that was captured at the moment a fault transitioned to CONFIRMED.
# Snapshots provide debugging context by preserving system state at fault time.

# Request fields

# The fault_code to get snapshots for.
string fault_code

# Optional topic filter. If empty, returns snapshots for all captured topics.
# If specified, returns only the snapshot for that specific topic.
string topic
---
# Response fields

# True if the fault_code was found (even if no snapshots exist).
bool success

# JSON-encoded snapshot data. Format:
# {
#   "fault_code": "MOTOR_OVERTEMP",
#   "captured_at": 1735830000.123,
#   "topics": {
#     "/joint_states": {
#       "message_type": "sensor_msgs/msg/JointState",
#       "data": {...}
#     }
#   }
# }
# Empty object "{}" if no snapshots captured for this fault.
string data

# Error message if success is false.
string error_message