ros2_medkit_msgs

This section contains design documentation for the ros2_medkit_msgs package.

Overview

The ros2_medkit_msgs package defines the ROS 2 message and service interfaces used across the ros2_medkit system. It has no runtime code - only .msg and .srv definitions that are compiled by rosidl into C++ and Python bindings.

Message Definitions

Message	Purpose
Fault.msg	Core fault representation: code, severity, status, entity, timestamps, description
FaultEvent.msg	Fault lifecycle event published on SSE streams (fault + event type)
Snapshot.msg	Rosbag snapshot metadata: entity, fault code, timestamps, bag path
ClusterInfo.msg	Fault cluster information for correlation engine
EnvironmentData.msg	Environment context attached to faults (system state at time of fault)
ExtendedDataRecords.msg	SOVD-aligned extended data records for fault snapshots
MutedFaultInfo.msg	Muted fault tracking (code, entity, mute reason, expiry)
MedkitDiscoveryHint.msg	Beacon discovery hint published by nodes for the topic beacon plugin

Service Definitions

Service	Purpose
ReportFault.srv	Report a fault to the fault manager (used by fault_reporter library)
GetFault.srv	Retrieve details of a single fault by ID
ListFaults.srv	List all faults with optional filtering
ListFaultsForEntity.srv	List faults scoped to a specific entity
ClearFault.srv	Clear/delete a specific fault
GetSnapshots.srv	Retrieve rosbag snapshot metadata
GetRosbag.srv	Retrieve rosbag file path for download
ListRosbags.srv	List all available rosbag snapshots

Design Decisions

Separate Package

Messages live in a dedicated package so that lightweight clients (such as ros2_medkit_fault_reporter) can depend on the interface definitions without pulling in the full gateway or fault manager implementations.

SOVD Alignment

Fault severity levels and status strings follow the SOVD specification where applicable. Constants are defined directly in Fault.msg (e.g., SEVERITY_INFO, STATUS_CONFIRMED) so that all consumers share the same canonical values.