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

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

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:

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

```bash colcon test –packages-select ros2_medkit_diagnostic_bridge

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Changelog for package ros2_medkit_diagnostic_bridge

0.3.0 (2026-02-27)

• Multi-distro CI support for ROS 2 Humble, Jazzy, and Rolling (#219, #242)
• Contributors: \@bburda

0.2.0 (2026-02-07)

• Initial rosdistro release
• Bridge node converting standard ROS 2 /diagnostics to FaultManager fault reports
• Severity mapping:
  • OK -> PASSED event (fault condition cleared)
  • WARN -> WARN severity FAILED event
  • ERROR -> ERROR severity FAILED event
  • STALE -> CRITICAL severity FAILED event
• Auto-generated fault codes from diagnostic names (UPPER_SNAKE_CASE)
• Custom name_to_code mappings via ROS parameters
• Stateless design: always sends PASSED for OK status (handles restarts)
• Contributors: Michal Faferek