Action Status Bridge Configuration

The ros2_medkit_action_status_bridge node turns ROS 2 action outcomes into faults. An action that aborts is a discrete, authoritative failure, and without this bridge it is visible only to whoever was watching that action’s result.

Overview 

The bridge rescans the graph for action status topics, subscribes to them, and reports a fault when a goal reaches a terminal state it is configured to treat as a failure. Terminal action states do not flap - the state model only moves on a net change - so the reports are not debounced the way log messages are.

If the FaultManager service is not discovered yet, a report is held and retried on a short timer, so the freeze-frame snapshot the FaultManager takes lands as close to the event as discovery allows.

Parameters 

action_status_bridge:
  ros__parameters:
    aborted_severity: 2         # SEVERITY_ERROR
    canceled_is_fault: false
    heal_on_succeeded: true
    rescan_period_sec: 2.0
    retry_period_sec: 0.05
    code_prefix: "ACTION"
    exclude_actions: []
    include_only_actions: []
    dedup_capacity: 4096

Parameter	Default	Description
`aborted_severity`	`2` (ERROR)	Severity reported when a goal aborts: 0 INFO, 1 WARN, 2 ERROR, 3 CRITICAL. Out of range is refused with a warning naming the value, and ERROR is used.
`canceled_is_fault`	`false`	Report a fault when a goal is canceled. Off by default, because a cancel is usually a decision rather than a failure.
`heal_on_succeeded`	`true`	Report a healing event when a goal succeeds, so an earlier fault for the same action clears on its own.
`rescan_period_sec`	`2.0`	How often the graph is rescanned for action status topics. A non-positive value is refused with a warning and `2.0` is used.
`retry_period_sec`	`0.05`	Retry cadence for a report deferred because the FaultManager service was not discovered. The timer is armed only while a delivery is pending. Kept short so the freeze-frame lands near the event. A non-positive value is refused with a warning and `0.05` is used.
`code_prefix`	`ACTION`	Prefix of every generated fault code. Normalized to upper snake case so it cannot produce a code outside medkit’s `[A-Z0-9_]` charset; an empty result falls back to `ACTION`.
`exclude_actions`	`[]`	Action names the bridge ignores.
`include_only_actions`	`[]`	When non-empty, only these actions are watched.
`dedup_capacity`	`4096`	How many goal IDs are remembered to avoid reporting the same terminal outcome twice. A non-positive value, or one past what the counter can hold, is refused with a warning naming the value, and `4096` is used.

The bridge also declares fault_reporter.local_filtering.enabled (default false) on its own node. See Fault Manager Configuration for what the reporter-side filter does.

See Also 

Fault Manager Configuration - where the reported faults land
Log Bridge Configuration - the same idea for /rosout