# Diagnostics Aggregator — Issue #658
# Unified health dashboard aggregating telemetry from all SaltyBot subsystems.

diagnostics_aggregator:
  ros__parameters:
    # Publish rate for /saltybot/system_health (Hz)
    heartbeat_hz: 1.0

    # Seconds without a topic update before a subsystem is marked STALE
    # Increase for sensors with lower publish rates (e.g. UWB at 5 Hz)
    stale_timeout_s: 5.0

    # Maximum number of state transitions kept in the in-memory ring buffer
    # Last 10 transitions are included in each /saltybot/system_health publish
    transition_log_size: 50
