This package is used to check for possible failures in managed nodes that correspond to components of a MROS system.
To monitor the status of the components (i.e. laser or other sensors) the mros_modes_observer subscribes to the [component_node]/transition_event topic.
A failure is defined by a transition from lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING to lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED. In this case, a message marking this is sent to the mros2_reasoner package (i.e. the Metacontroller) using the /diagnostics topic.
The list of components to be monitored is defined in the components.yaml file. A subscriber is created for each component in that file, therefore the component field should correspond to the node name.
To use this package, follow the instructions on here https://github.com/MROS-RobMoSys-ITP/MROS-Hands-On