mros-robmosys-itp / mros_modes_observer

mros_modes_observer Package

This package is used to check for possible failures in managed nodes that correspond to components of a MROS system.

Usage

To monitor the status of the components (i.e. laser or other sensors) the mros_modes_observer subscribes to the [component_node]/transition_event topic.

A failure is defined by a transition from lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING to lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED. In this case, a message marking this is sent to the mros2_reasoner package (i.e. the Metacontroller) using the /diagnostics topic.

Configuration file

The list of components to be monitored is defined in the components.yaml file. A subscriber is created for each component in that file, therefore the component field should correspond to the node name.

Installation and usage

To use this package, follow the instructions on here https://github.com/MROS-RobMoSys-ITP/MROS-Hands-On