ros2_fault_injection

A ROS 2 framework for injecting faults into topics, transforms, and services.

Contents

• ros2_fault_injection API
  • Contributor Guides
• Architecture
  • Scenario Loading
  • Controller
  • Injector Factory And Pluginlib
  • Injectors
  • Scheduler
  • Assertions
  • Runtime Services
  • Events
  • RViz Panel
  • Extension Points
• Fault Configuration
  • Common Fault Fields
  • Odometry Faults
  • LaserScan Faults
  • Joint State Faults
  • IMU Faults
  • TF Faults
  • Trigger Service Faults
  • Runtime Updates
  • Assertions
• Runtime Services
  • List Faults
  • Get Fault Status
  • Set Fault State
  • Get Fault Config Schema
  • Get Fault Config
  • Set Fault Config
  • Reload Scenario
  • Fault Events
  • Assertion Events
• Adding an Injector
  • 1. Pick the Injector Type
  • 2. Create the Typed Injector Class
  • 3. Follow the Proxy Pattern
  • 4. Add Fault Config Keys
  • 5. Add a Plugin Wrapper
  • 6. Update CMake
  • 7. Add Example YAML
  • 8. Add Tests
  • 9. Update Documentation
  • Checklist
• Adding a Fault Type
  • 1. Pick the Config Key
  • 2. Add the Key to the Schema
  • 3. Add Value Validation
  • 4. Implement the Mutation
  • 5. Decide How Faults Combine
  • 6. Add YAML Examples
  • 7. Add Tests
  • 8. Update Documentation
  • Checklist
• API Reference
  • Core