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.

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).

Event Types: | Constant | Trigger | |———-|———| | EVENT_CONFIRMED | Fault transitions PREFAILED → CONFIRMED | | EVENT_CLEARED | Fault ends: CLEARED via ClearFault, or HEALED by PASSED events (fault.status tells which) | | 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

File truncated at 100 lines see the full file

Changelog for package ros2_medkit_msgs

0.6.0 (2026-06-22)

• No functional changes; version bump for the coordinated 0.6.0 release.
• Contributors: \@bburda

0.5.0 (2026-06-08)

• New service definitions ListEntities.srv, GetEntityData.srv, GetCapabilities.srv and the EntityInfo.msg type for exposing the entity tree over ROS 2 services (#330)
• ClearFault.srv request gains a bool skip_correlation_auto_clear field so callers can opt out of cascade-clearing correlated symptom fault codes; out-of-tree callers must rebuild against the new message (#395)
• Contributors: \@bburda, \@mfaferek93

0.4.0 (2026-03-20)

• MedkitDiscoveryHint message type for beacon discovery publishers
• Contributors: \@bburda

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
• Fault management messages:
  • Fault.msg - Core fault data model with severity levels (INFO/WARN/ERROR/CRITICAL) and debounce-based status lifecycle (PREFAILED/PREPASSED/CONFIRMED/HEALED/CLEARED)
  • FaultEvent.msg - Real-time event notifications (EVENT_CONFIRMED/EVENT_CLEARED/EVENT_UPDATED) with auto-cleared correlation codes
  • MutedFaultInfo.msg - Fault correlation muting metadata
  • ClusterInfo.msg - Fault clustering information
• Fault management services:
  • ReportFault.srv - Report fault events with FAILED/PASSED event model
  • GetFaults.srv - Query faults with filtering by severity, status, and correlation data
  • ClearFault.srv - Clear/acknowledge faults by fault_code
  • GetSnapshots.srv - Retrieve topic snapshots captured at fault time
  • GetRosbag.srv - Retrieve rosbag recordings associated with faults
• Contributors: Bartosz Burda, Michal Faferek