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41dc80ea7d
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feat: Add diagnostic self-test system (Issue #445)
Comprehensive hardware diagnostics and health monitoring for SaltyBot.
Startup hardware checks:
- RPLIDAR, RealSense, VESC, Jabra microphone, STM32 bridge
- Servo controller, WiFi, GPS module
- Disk space, system RAM, CPU temperature
- Boot result via TTS + face animation
Runtime monitoring:
- Temperature thresholds (Orin GPU >80C, VESC >60C)
- Network latency to 8.8.8.8
- System resource tracking (CPU, RAM, disk)
Features:
- Publishes /saltybot/diagnostics (DiagnosticArray)
- JSON logging to /home/seb/saltybot-data/diagnostics/
- Configuration-driven via YAML
- Boot animations and TTS announcements
- Configurable startup and runtime checks
Package structure:
- saltybot_diagnostics: Main diagnostics node
- diagnostic_checks.yaml: Hardware config + thresholds
- diagnostics.launch.py: Launch file with parameters
- Unit tests for check aggregation and logging
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-05 09:06:18 -05:00 |
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