feat(log_bridge): add /rosout to faults bridge#422
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New ros2_medkit_log_bridge: subscribes /rosout and promotes WARN+/ERROR/ FATAL log entries to FaultManager faults, attributed to the originating node FQN so each fault associates with the runtime-discovered entity. Drop-in, no publisher code changes. Refs #420
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Pull request overview
Adds a new ROS 2 package (ros2_medkit_log_bridge) that subscribes to /rosout and promotes WARN+/ERROR/FATAL log entries into medkit FaultManager faults, attributing each fault to the originating node and generating stable fault codes.
Changes:
- Introduces
LogBridgeNode(subscription, filtering, source_id normalization, fault_code generation) and a runnable executable + launch file. - Adds package configuration (
config/log_bridge.yaml) and end-user documentation (README.md,CHANGELOG.rst). - Adds GTest unit coverage for severity mapping, message normalization, fault_code stability, and source_id normalization.
Reviewed changes
Copilot reviewed 10 out of 10 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| src/ros2_medkit_log_bridge/test/test_log_bridge.cpp | Unit tests for mapping/normalization/fault code/source_id behavior |
| src/ros2_medkit_log_bridge/src/main.cpp | Entry point to spin the bridge node |
| src/ros2_medkit_log_bridge/src/log_bridge_node.cpp | Core bridge implementation: subscribe /rosout, filter, report faults |
| src/ros2_medkit_log_bridge/include/ros2_medkit_log_bridge/log_bridge_node.hpp | Public interface and documentation for LogBridgeNode |
| src/ros2_medkit_log_bridge/config/log_bridge.yaml | Default parameters for topic, severity floor, code prefix, filters |
| src/ros2_medkit_log_bridge/launch/log_bridge.launch.py | Launch description to run the node with the default config |
| src/ros2_medkit_log_bridge/CMakeLists.txt | Build targets + test setup |
| src/ros2_medkit_log_bridge/package.xml | Package metadata and dependencies |
| src/ros2_medkit_log_bridge/README.md | Usage docs and behavioral notes |
| src/ros2_medkit_log_bridge/CHANGELOG.rst | Package changelog entry |
Stable FNV-1a fault_code, uniform node_source_id for code/eligibility/self-exclusion, sanitized code_prefix, LRU-bounded reporters, per-code forward cooldown, severity_floor validation, and a null guard in map_level_to_severity. Unique test domain range, dropped unused test_depends, added unit coverage; docs corrected (WARN two-stage debounce, namespaced-node limit).
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Adds
ros2_medkit_log_bridge, a drop-in compatibility adapter (same category asros2_medkit_diagnostic_bridge) that subscribes to/rosoutand promotesWARN+/ERROR/FATALlog entries to FaultManager faults.FaultReporter, sosource_idis the node FQN and the fault associates with the runtime-discovered entity (snapshot/rosbag included).fault_codeis auto-generated and stable across occurrences (hash over a normalized message template: digits/hex/paths stripped).Native
ros2_medkit_fault_reporterinstrumentation stays the canonical path; this bridge is the fallback for nodes that only log.Unit tests cover level-to-severity mapping, fault_code generation/stability, and source_id normalization.
Closes #420