Each of the ROS nodes currently created all have a way to detecting faults with the hardware/external device.
Currently this is only used minimally, should update this such that the fault flag is provided as output of the node(s) as well.
Envision that the fault code value will be provided, and within the usual std_msgs/header 'Frame_Id' capture what the code means - based upon the enumerate text (if this can be easily retrieved)
Each of the ROS nodes currently created all have a way to detecting faults with the hardware/external device. Currently this is only used minimally, should update this such that the fault flag is provided as output of the node(s) as well. Envision that the fault code value will be provided, and within the usual std_msgs/header 'Frame_Id' capture what the code means - based upon the enumerate text (if this can be easily retrieved)