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#ROS Alarms Wiki

The idea of ROS alarms is to provide a general interface for raising and clearing alarms without much hassle in the backend. ROS alarms provides the framework for creating alarm handlers that can run when an alarm is raised and/or cleared, setting up meta alarms which are more general alarms that can be raised or cleared by any number of sub alarms, and other features that make setting up and using alarms easy for the end user.

#Launch setup As you can see in the provided example launch file, the launch file needs to set a couple of different parameters in order to behave correctly:

• /handler_module: As specified on the alarm handlers page, this is used to specify where the alarm handler classed can be found. It is important to have this file in your python path (which can be done with an __init__.py in the folder and a setup.py in the catkin package)
• /meta_alarms/*: As specified on the meta alarms page, this is used to setup meta alarms and their sensitivity lists. This param should be a dictionary that maps meta alarm names -> sub alarm names. If any of the sub alarms are raised or cleared, that meta alarm's meta_predicate will be called if it can.
• /known_alarms: (optional) a listing of alarms you plan to use. This is helpful since alarm broadcasters and listeners will alert you if you try to broadcast to or listen to an alarm that doesn't exist. See the example launch if you have any questions.