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25f0711309
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feat: Jetson Orin system monitor ROS2 node (Issue #631)
New package saltybot_system_monitor:
- jetson_stats.py: pure-Python data layer (JetsonStats, CpuCore,
TegrastatsParser, JtopReader, TegrastatsReader, MockReader,
AlertChecker, AlertThresholds) — no ROS2 dependency
- system_monitor_node.py: ROS2 node publishing /saltybot/system/stats
(JSON) and /saltybot/diagnostics (DiagnosticArray) at 1 Hz
- Alerts: CPU/GPU >85% WARN (+10% ERROR), temp >80°C, disk/RAM >90%,
power >30 W; each alert produces a DiagnosticStatus entry
- Stats source priority: jtop > tegrastats > mock (auto-detected)
- config/system_monitor.yaml: all thresholds and rate tunable via params
- launch/system_monitor.launch.py: single-node launch with config arg
- test/test_system_monitor.py: 50+ pytest tests, ROS2-free
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-15 14:38:43 -04:00 |
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