feat(action_status_bridge): add aborted-goal to faults bridge#423
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Pull request overview
Adds a new ROS 2 package, ros2_medkit_action_status_bridge, that discovers action */_action/status topics at runtime and converts terminal goal states into FaultManager faults (with optional healing on SUCCEEDED). This complements existing log/diagnostic-based fault sources by capturing failures that only appear on the action status channel.
Changes:
- Introduces
ActionStatusBridgeNodethat periodically rescans the graph, subscribes to action status topics, deduplicates terminal events per goal, and reports/heals faults viaros2_medkit_fault_reporter. - Adds launch + YAML configuration, plus package/build metadata for installation.
- Adds GTest unit tests for topic parsing, fault-code formatting, UUID hex conversion, and node construction.
Reviewed changes
Copilot reviewed 10 out of 10 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| src/ros2_medkit_action_status_bridge/test/test_action_status_bridge.cpp | New unit tests for helper logic and node creation |
| src/ros2_medkit_action_status_bridge/src/main.cpp | Node entrypoint (init/spin/shutdown) |
| src/ros2_medkit_action_status_bridge/src/action_status_bridge_node.cpp | Core bridge implementation: discovery, subscriptions, dedup, fault reporting |
| src/ros2_medkit_action_status_bridge/README.md | Package overview and configuration docs |
| src/ros2_medkit_action_status_bridge/package.xml | New ROS package manifest and dependencies |
| src/ros2_medkit_action_status_bridge/launch/action_status_bridge.launch.py | Launch file to run the bridge with YAML params |
| src/ros2_medkit_action_status_bridge/include/ros2_medkit_action_status_bridge/action_status_bridge_node.hpp | Public node API + documentation |
| src/ros2_medkit_action_status_bridge/config/action_status_bridge.yaml | Default parameters for the bridge |
| src/ros2_medkit_action_status_bridge/CMakeLists.txt | Build, install, and unit-test wiring |
| src/ros2_medkit_action_status_bridge/CHANGELOG.rst | Initial changelog entry |
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Review findings inline (severity tagged per comment).
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New ros2_medkit_action_status_bridge: watches */_action/status and turns terminal ABORTED goal states into FaultManager faults, healing on SUCCEEDED. Catches action-result failures that never reach /rosout or /diagnostics (MoveIt, Nav2, ros2_control). Refs #421
Attribute faults to the action server node FQN (from the status publisher) so they associate with the SOVD entity; heal a still-failed action before pruning it. Per-action lifecycle, sanitized prefix, param validation, CANCELED codes. Unique test domain range, docs-build wiring, and a launch_testing integration test.
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Adds
ros2_medkit_action_status_bridge, a generic drop-in adapter that discovers every action via its*/_action/statustopic and turns terminalABORTEDgoal states into FaultManager faults, healing the code onSUCCEEDED.This captures the authoritative failure channel for the core stacks (Nav2, MoveIt 2, ros2_control), where an aborted goal reaches neither
/rosoutnor/diagnostics.source_idis the action name;fault_codeis<PREFIX>_<ACTION>_ABORTED.goal_idso a latched terminal status reports once.Unit tests cover action-name extraction, fault_code generation, and dedup.
Closes #421