fault_injection

Purpose

This package is used to convert pseudo system faults from PSim to Diagnostics and notify Autoware. The component diagram is as follows:

Test

source install/setup.bash
cd fault_injection
launch_test test/test_fault_injection_node.test.py

Inner-workings / Algorithms

Inputs / Outputs

Input

Name	Type	Description
~/input/simulation_events	tier4_simulation_msgs::msg::SimulationEvents	simulation events
~/input/diagnostics	diagnostic_msgs::msg::DiagnosticArray	Diagnostics from nodes

Output

Name	Type	Description
~/output/diagnostics	diagnostic_msgs::msg::DiagnosticArray	Diagnostics with fault injection applied

Notes

• Use separate input/output topics (default remaps are /diagnostics -> ~/input/diagnostics and /diagnostics/fault_injection -> ~/output/diagnostics) to avoid mixing raw and modified diagnostics.

Parameters

None.

Node Parameters

None.

Core Parameters

None.

Assumptions / Known limits

TBD.