benchmark_modes.yaml

# system modes safety benchmark
---

safety:
  ros__parameters:
    type: system
    parts:
      manipulator
      nav2
      camera
      guard
    modes:
      __DEFAULT__:
        manipulator: active.__DEFAULT__
        nav2: active.__DEFAULT__
        camera: active.__DEFAULT__
        guard: active.__DEFAULT__
      COMPROMISED:
        manipulator: active.COMPROMISED
        nav2: active.COMPROMISED
        camera: inactive.COMPROMISED
        guard: active.COMPROMISED
    rules:
      guard_detect_compomise_in_default:
        if_target: active.__DEFAULT__
        if_part: [guard, active.COMPROMISED]
        new_target: active.COMPROMISED
      guard_detect_default_in_compromise:
        if_target: active.COMPROMISED
        if_part: [guard, active.__DEFAULT__]
        new_target: active.__DEFAULT__

manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.5
      COMPROMISED:
        ros__parameters:
          max_torque: 0.1

nav2:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          forbidden_areas: false
      COMPROMISED:
        ros__parameters:
          forbidden_areas: true

guard:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          compromised_system: false
      COMPROMISED:
        ros__parameters:
          compromised_system: true

camera:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          use_sim_time: false
      COMPROMISED:
        ros__parameters:
          use_sim_time: false