fault_injection

Purpose

This package is used to convert pseudo system faults from PSim to Diagnostics and notify Autoware. The component diagram is as follows:

Test

source install/setup.bash
cd fault_injection
launch_test test/test_fault_injection_node.test.py

Inner-workings / Algorithms

Inputs / Outputs

Input

Output

Parameters

None.

Node Parameters

None.

Core Parameters

None.

Assumptions / Known limits

TBD.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package autoware_fault_injection \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat: apply [autoware_]{.title-ref} prefix for [fault_injection]{.title-ref} (#9989) * feat(fault_injection): apply [autoware_]{.title-ref} prefix (see below): Note: * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits.
  • The changes will follow the Autoware's guideline as below:
  • https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder
  • rename(fault_injection): move headers under `include/autoware`:
  • Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
  • fix(fault_injection): fix include header paths
  • To follow the previous commit
  • rename: [fault_injection]{.title-ref} => [autoware_fault_injection]{.title-ref}

  * Fixed exec_depend ---------Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>

• Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - simulator (#9572)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• feat(system diags): rename diag of ndt scan matcher (#6889) rename ndt diag
• feat(fault injection): change for diagnostic graph aggregator (#6750)
  • feat: change to adapt diagnostic graph aggregator
  • Change the configuration to adapt to both system_error_monitor and diagnostic_graph_aggregator
  • style(pre-commit): autofix
  • pre-commit fix
  • style(pre-commit): autofix
  • spell check fix
  • clang-tidy fix
  • style(pre-commit): autofix
  • pre-commit fix
  • style(pre-commit): autofix
  • fix datatype

  * cleanup code ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Tomohito ANDO <<tomohito.ando@tier4.jp>>

• Contributors: Keisuke Shima, Takayuki Murooka, Yamato Ando, Yutaka Kondo

0.26.0 (2024-04-03)

• refactor(localization_error_monitor): rename localization_accuracy (#5178) refactor: Rename localization_accuracy to localization_error_ellipse
• fix(fault_injection_node): fix history_depth in subscriber qos (#4042)
  • fix(fault_injection_node): fix history_depth in sub qos
  • fix(fault_injection_node): add test cases
  • fix(fault_injection): fix test
  • fix(test_fault_injection): ensure that publication takes place

  * ref(test_fault_injection): remove unused import ---------Co-authored-by: Keisuke Shima <<19993104+KeisukeShima@users.noreply.github.com>>

• build: mark autoware_cmake as <buildtool_depend> (#3616) * build: mark autoware_cmake as <buildtool_depend> with <build_depend>, autoware_cmake is automatically exported with ament_target_dependencies() (unecessary)
  • style(pre-commit): autofix

  * chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>

• fix(fault injection): add find package to cmake (#2973)
  • fix(fault injection) add find package to cmake

  * feat: add pluginlib to dependency ---------

• ci(pre-commit): format SVG files (#2172)
  • ci(pre-commit): format SVG files
  • ci(pre-commit): autofix

  * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(fault_injection): fix diag name (#958)
• feat: isolate gtests in all packages (#693)
• chore: upgrade cmake_minimum_required to 3.14 (#856)
• refactor: simplify Rolling support (#854)
• refactor: use autoware cmake (#849)
  • remove autoware_auto_cmake
  • add build_depend of autoware_cmake
  • use autoware_cmake in CMakeLists.txt
  • fix bugs
  • fix cmake lint errors
• fix: apply fixes for rolling (#821)
  • fix(component_interface_utils): add USE_DEPRECATED_TO_YAML
  • fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
  • add rclcpp_components to package.xml

  * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(fault_injection): fix empty hardware_id (#814)
• fix(fault_injection): modify build error in rolling (#762)
  • fix(fault_injection): modify build error in rolling

  * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• ci(pre-commit): update pre-commit-hooks-ros (#625)
  • ci(pre-commit): update pre-commit-hooks-ros

  * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(fault_injection): fix launch_testing (#489)
  • fix(fault_injection): fix launch_testing
  • add label
  • add todo comment
• ci: check include guard (#438)
  • ci: check include guard
  • apply pre-commit

  * Update .pre-commit-config.yaml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * fix: pre-commit Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

• feat: rename existing packages name starting with autoware to different names (#180)
  • autoware_api_utils -> tier4_api_utils
  • autoware_debug_tools -> tier4_debug_tools
  • autoware_error_monitor -> system_error_monitor
  • autoware_utils -> tier4_autoware_utils
  • autoware_global_parameter_loader -> global_parameter_loader
  • autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter
  • autoware_joy_controller -> joy_controller
  • autoware_error_monitor -> system_error_monitor(launch)
  • autoware_state_monitor -> ad_service_state_monitor
  • autoware_web_controller -> web_controller
  • remove autoware_version
  • remove autoware_rosbag_recorder
  • autoware__rviz_plugin -> tier4__rviz_plugin
  • fix ad_service_state_monitor

  * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat: change pachage name: autoware_msgs -> tier4_msgs (#150)
  • change pkg name: autoware__msgs -> tier__msgs
  • ci(pre-commit): autofix
  • autoware_external_api_msgs -> tier4_external_api_msgs
  • ci(pre-commit): autofix

  * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>>

• feat: add fault_injection packages (#101)
  • Add fault injection package (#1760)
  • add fault injection package
  • fix copyright url
  • fix for lint
  • pre-commit fixed
  • change license note
  • separate functions for responsivity
  • add tests
  • add compile option
  • Remove unnecessary descriptions
  • Update the readme
  • Replace png with svg
  • Remove the constructor to follow the recommendations
  • Remove amant_clang_format to match the standard
  • Change the using statement to clarify the type
  • Add using to shorten the type
  • lint
  • change variable name
  • Rename input and delete output
  • sort lines
  • use range-based for
  • added const
  • Remove temporary variables
  • Set an empty value to get all parameters
  • change filename
  • Move test files to test directory
  • Remove unused lines
  • fix to add reference symbol
  • add read_parameter.launch.py
  • remove unused option
  • add comment
  • Change input type to autoware_simulation_msgs
  • refactoring: move parameter function to parameter_handler
  • refactoring
  • remove key_storage
  • replace data with simulation_events
  • remove temporary variable
  • reflects the opinions of review
  • change order
  • delete template
  • change event name
  • reflect review request
  • remove &
  • change constructor argument
  • delete unused function
  • change to event_diag_map class
  • changes for review
  • fix build error
  • fix test error
  • refactor launch_test

  * replace logging with launch.logging reason: launch.logging supports verbose output option. i.e. launch_test -v FILE

  • merge update function
  • rename callback function
  • move using line
  • add node name as hardware id
  • fix comment
  • change return value
  • add menber to DiagConfig
  • sort menber order
  • use to_yaml
  • remove const
  • change function order
  • rename getValue() to getDiag()
  • add isEventRegistered function
  • move test
  • modify script
  • delete else
  • change cond
  • use docstring style
  • move msg_buffer
  • rename
  • rename
  • fix
  • fix
  • fix
  • use emplace_back
  • add isEventRegistered
  • fix build error
  • remove destroy_sub,pub
  • change check statement
  • add comment
  • fix build error
  • use leveltype
  • fair test
  • change spin time
  • restore config
  • add node name
  • shorten name
  • change function name
  • remove read_parameter
  • expand timeout
  • comment out launch_test
  • Fix a broken link of the component diagram on Fault Injection document (#2202)
  • [Fault injection] Update component diagram (#2203)
  • Update component diagram
  • Rename pSim to scenario_simulator_v2
  • fix upload error
  • Transparent background
  • Fix line widths of the component diagram on Fault Injection document (#2205)
  • Feature/add fault injection settings (#2199)
  • add parameter file
  • add message
  • Change formatter to clang-format and black (#2332)

  * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

  • Replace ament_lint_common with autoware_lint_common
  • Remove ament_cmake_uncrustify and ament_clang_format
  • Apply Black
  • Apply clang-format
  • Fix build errors
  • Fix for cpplint
  • Fix include double quotes to angle brackets
  • Apply clang-format
  • Fix build errors
  • Add COLCON_IGNORE (#500)
  • remove colcon_ignore in fault injection (#585)
  • update readme in fault injection (#644)
  • Update readme in fault_injection

  * fix precommit Co-authored-by: Keisuke Shima <<19993104+KeisukeShima@users.noreply.github.com>> Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Yohei Mishina <<66298900+YoheiMishina@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>>

• Contributors: DMoszynski, Daisuke Nishimatsu, Hiroki OTA, Keisuke Shima, Kenji Miyake, Maxime CLEMENT, Motz, Takagi, Isamu, Tomoya Kimura, Vincent Richard