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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:

Component diagram of fault_injection package

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

Output#

Name Type Description
/diagnostics diagnostic_msgs::msg::DiagnosticArray Dummy diagnostics

Parameters#

None.

Node Parameters#

None.

Core Parameters#

None.

Assumptions / Known limits#

TBD.