Single-command bringup

bringup.launch.py starts the full local medkit stack - the gateway, the fault_manager, and the generic fault bridges - as one process group, with no manual topic/service wiring. It ships a shared params file that turns on the headline value the conservative per-node defaults leave off (fault healing and crash-safe black-box rosbag capture).

Install

Build the workspace (the gateway brings the fault_manager and bridges in as runtime dependencies):

colcon build --packages-up-to ros2_medkit_gateway
source install/setup.bash

Run

One command starts the whole stack:

ros2 launch ros2_medkit_gateway bringup.launch.py

The gateway serves its REST API on http://127.0.0.1:8080 by default. Common launch arguments:

Argument	Default	Description
`params_file`	`config/bringup_params.yaml`	Parameter file applied to the fault_manager (healing + black-box rosbag). Point this at your own file to override. The gateway and bridges run with their own configs; tune those via their launch args.
`server_host`	`127.0.0.1`	Host to bind the gateway REST server (use `0.0.0.0` to expose it).
`server_port`	`8080`	Gateway REST API port.
`enable_fault_manager`	`true`	Start the fault_manager node.
`enable_log_bridge`	`true`	Start the log_bridge (`/rosout` -> faults).
`enable_action_status_bridge`	`true`	Start the action_status_bridge (aborted action goals -> faults).
`enable_diagnostic_bridge`	`false`	Start the diagnostic_bridge (`/diagnostics` -> faults). Opt-in, for legacy `diagnostic_updater` publishers.

Verify

Induce a fault and see it surface through the gateway with a black-box bag, with no further wiring. Report a fault against any node on your stack:

ros2 service call /fault_manager/report_fault ros2_medkit_msgs/srv/ReportFault \
  "{fault_code: 'DEMO_FAULT', event_type: 0, severity: 2, description: 'bringup test', source_id: '/your_node'}"

Then query the gateway and the black-box:

# The fault is visible via the gateway REST API
curl http://127.0.0.1:8080/api/v1/faults

# A non-empty black-box bag was captured at confirmation
ros2 service call /fault_manager/get_rosbag ros2_medkit_msgs/srv/GetRosbag \
  "{fault_code: 'DEMO_FAULT'}"

With healing_enabled on, a recovery signal (e.g. an action transitioning to SUCCEEDED) clears the fault automatically. Log faults have no recovery signal, so LOG_* faults do not auto-clear.

Bridge runtime cost and tuning

The bridges are the first thing this bringup starts by default, so size them for your stack. Each bridge has include_only_* / exclude_* filters to scope what it watches, and these knobs for cost:

log_bridge subscribes /rosout and processes every log line, so its cost scales with log volume. Keep severity_floor at WARN (30) by default; raise it to ERROR (40) on chatty stacks. report_cooldown_sec already bounds ERROR/FATAL floods.
action_status_bridge rescans the full ROS graph every rescan_period_sec (default 2.0s) plus low-volume per-status processing. Raise rescan_period_sec on large graphs.

Opt a bridge out entirely with its enable_* launch argument, e.g. ros2 launch ros2_medkit_gateway bringup.launch.py enable_log_bridge:=false.

Multi-domain topology

A robot that spans several ROS_DOMAIN_ID / RMW_IMPLEMENTATION values runs one bringup per domain. The gateways are then federated into a single tree / API / UI by peer aggregation (set aggregation.enabled plus peer_urls or mDNS on the gateways). Each bringup must share its target stack’s ROS_DOMAIN_ID, RMW_IMPLEMENTATION and network to see it.