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.devcontainer/Dockerfile

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+FROM osrf/ros:galactic-desktop-focal
+
+SHELL ["/bin/bash", "-c"]
+
+# create a non-root user
+# https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+USER $USERNAME
+
+# update all packages
+RUN sudo apt-get update && sudo apt-get upgrade -y
+
+# install packages
+RUN sudo apt-get install -y python3-pip git
+
+# install fast rtps
+RUN sudo apt install -y ros-galactic-rmw-fastrtps-cpp
+
+# update ros dependencies
+RUN rosdep update --rosdistro galactic
+
+# ros configuration
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.sh" >> ~/.bashrc
+RUN echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> ~/.bashrc

.devcontainer/devcontainer.json

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+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+
+	"name": "galactic-desktop-focal",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"build": {
+        "dockerfile": "Dockerfile"
+    },
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+		"ghcr.io/devcontainers/features/python:1": {}
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	"runArgs": ["--network=host"],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	"postCreateCommand": "bash .devcontainer/installation.sh",
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"python.defaultInterpreterPath": "/usr/bin/python3"
+			},
+			"extensions": [
+				"mhutchie.git-graph",
+				"ms-azuretools.vscode-docker",
+				"ms-vscode.live-server",
+				"mechatroner.rainbow-csv"
+			]
+		}
+	}
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+}

.devcontainer/installation.sh

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+sudo apt-get update && sudo apt-get upgrade -y \
+&& pip3 install --user -r .devcontainer/requirements.txt \
+&& colcon build \
+&& echo "source install/setup.bash" >> ~/.bashrc

.devcontainer/requirements.txt

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+pyyaml==5.3.1
+rosbags==0.9.22
+pathlib==1.0.1
+plotly==5.18.0
+pandas==2.0.3
+numpy==1.24.4

.gitignore

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+data/*
+src/__pycache__/*
+src/*.html
+log/*
+build/*
+install/*
+plot/*
+csv/*

README.md

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+# ROS2 Rosbag Fault Injection
+
+![Docker](https://img.shields.io/badge/docker-%230db7ed.svg?style=for-the-badge&logo=docker&logoColor=white)
+![Visual Studio Code](https://img.shields.io/badge/Visual%20Studio%20Code-0078d7.svg?style=for-the-badge&logo=visual-studio-code&logoColor=white)
+![ROS](https://img.shields.io/badge/ros-%230A0FF9.svg?style=for-the-badge&logo=ros&logoColor=white)
+![Python](https://img.shields.io/badge/python-3670A0?style=for-the-badge&logo=python&logoColor=ffdd54)
+![Shell Script](https://img.shields.io/badge/shell_script-%23121011.svg?style=for-the-badge&logo=gnu-bash&logoColor=white)
+
+Fault injection for [ROS2](https://github.com/ros2) rosbags that supports recording, modifying, and plotting the fault injected rosbags.
+
+## Getting Started
+
+### Prerequisite (at host)
+
+* Visual Code
+* Docker
+    * If you have a Docker Desktop license, Docker Desktop >= 4.27.2
+    * If you don't have a Docker Desktop license, [Docker Engine on WSL2](https://www.youtube.com/redirect?event=video_description&redir_token=QUFFLUhqbU8zY0gzaUpIak1nWWM5NExPNlhDYjdYRGh1QXxBQ3Jtc0trMjgzWVZzeGxXSnMtSEpUNlBxeXAwdWg3a29iaVlJcVVIZEdMbzVaeVhOQ3NNSllSa3JnVXlDVVZMLUY2ZzJxSGZQdWNmSDhjRVJWVTYwbFFmRzhzSnJoQ05MNktGRUlCRjdqTDI3OXJ2T2NLVVBhcw&q=https%3A%2F%2Fdocs.docker.com%2Fengine%2Finstall%2Fubuntu%2F%23install-using-the-convenience-script&v=SDk3pqFXgs8) (Docker Engine != Docker Desktop)
+        * In case of another installation, make sure you have deleted the previous Docker completely
+        * After installation, check if Docker Container Engine is running well
+            ```
+            # to check if docker container engine is running
+            sudo service docker status
+            ```
+* Python >= 3.8.10
+* The user must be added in the `docker` group with sudo previledge
+    ```
+    # add a group named docker
+    sudo gropuadd docker
+
+    # add the current user to the docker group with sudo privilege
+    sudo gpasswd -a $USER docker
+
+    # change the current user's primary group to docker
+    newgrp docker
+    ``` 
+
+### Setup
+
+To clone the repo:
+```
+git clone https://github.com/boschresearch/rosbag-fault-injection.git
+```
+
+To open the Visual Code:
+```
+# change directory to the project
+cd rosbag-fault-injection
+
+# open visual code
+code .
+```
+
+The project contains `devcontainer` that runs [ROS2 Galactic](https://docs.ros.org/en/galactic/index.html) as a container with all required dependencies and initial setup. 
+
+To open the `devcontainer`, press `Ctrl`+`Shift`+`P` from Visual Code and select `Reopen in Container`. See [Visual Studio Blog](https://code.visualstudio.com/blogs/2020/07/01/containers-wsl#_getting-started) for visual guidelines.
+
+After `devcontainer` is up and running successfully, you can open a `bash` terminal with `vscode` user name. And `ros2` commands are usable right away. :)
+
+## Fault injection
+
+WIP
+
+## Trouble Shooting
+Q1. Opening the container fails with `... "docker-credential-desktop.exe": executable file not found in $PATH, out: ...`.
+
+A1. Delete the line with `credsStore` from `~/.docker/config.json` on WSL2.
+
+## License
+
+This project is licenced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for more details.

app/interfaces/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/BoolWithHeader.msg"
+  "msg/IntWithHeader.msg"
+  DEPENDENCIES std_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

app/interfaces/msg/BoolWithHeader.msg

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+std_msgs/Header header
+bool data

app/interfaces/msg/IntWithHeader.msg

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+std_msgs/Header header
+int32 data

app/interfaces/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>interfaces</name>
+  <version>0.0.0</version>
+  <description>Interfaces</description>
+  <maintainer email="[email protected]">vscode</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

app/num_generator/launch/all_launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='num_generator',
+            executable='generator',
+            name='generator',
+        ),
+        Node(
+            package='num_generator',
+            executable='multiplier',
+            name='multiplier',
+        ),
+        Node(
+            package='num_generator',
+            executable='feedback',
+            name='feedback',
+        ),
+        Node(
+            package='num_generator',
+            executable='initialiser',
+            name='initialiser',
+        )
+    ])

app/num_generator/num_generator/feedback.py

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+"""" This node is used to provide feedback to the generator
+if a condition is fulfilled"""
+#!/usr/bin/env python3
+#
+# Copyright (c) 2024 Robert Bosch GmbH and its subsidiaries.
+# This program and the accompanying materials are made available under
+# the terms of the Bosch Internal Open Source License v4
+# which accompanies this distribution, and is available at
+# http://bios.intranet.bosch.com/bioslv4.txt
+
+__author__ = "Min Hee Jo"
+__copyright__ = "Copyright 2024, Robert Bosch GmbH"
+__license__ = "BIOSL"
+__version__ = "4.0"
+__email__ = "[email protected]"
+
+import rclpy
+import time
+from rclpy.node import Node
+from std_msgs.msg import Header
+from interfaces.msg import BoolWithHeader, IntWithHeader
+
+
+class Feedback(Node):
+
+    def __init__(self):
+        super().__init__('Feedback')
+        self.reset_signal = True
+        self.subscription = self.create_subscription(
+            IntWithHeader, 'multiplier2feedback', self.num_feedback, 1)
+        self.publisher = self.create_publisher(BoolWithHeader, 'feedback2generator', 1)
+
+    def num_feedback(self, msg):
+        # create message
+        bool_msg = BoolWithHeader()
+
+        # header
+        header = Header()
+        header.stamp = self.get_clock().now().to_msg()
+        bool_msg.header = header
+
+        # data
+        if msg.data < 10:
+            bool_msg.data = self.reset_signal = False  # if condition not met set to False
+        else:
+            bool_msg.data = self.reset_signal = True  # if condition met set to True
+
+        print(bool_msg.data)
+
+        # publish
+        self.publisher.publish(bool_msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = Feedback()
+    try:
+        # sleep statement to spin the node after 0.2 seconds
+        time.sleep(0.2)
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()