2 Commits

Author	SHA1	Message	Date
sl-jetson	8e03a209be	feat: ROS2 sensor health monitor (Issue #566) ... Add sensor_health_node to saltybot_health_monitor package. Monitors 8 sensor topics for staleness, publishing DiagnosticArray on /saltybot/diagnostics and MQTT JSON on saltybot/health. Sensors monitored (configurable thresholds): /camera/color/image_raw, /camera/depth/image_rect_raw, /camera/color/camera_info, /scan, /imu/data, /saltybot/uwb/range, /saltybot/battery, /saltybot/motor_daemon/status Each sensor: OK/WARN/ERROR based on topic age vs warn_s/error_s thresholds. Critical sensors (camera, lidar, imu, motor_daemon) escalate overall status. Files added: sensor_health_node.py — SensorWatcher + SensorHealthNode config/sensor_health_params.yaml — per-sensor thresholds launch/sensor_health.launch.py test/test_sensor_health.py — 35 tests, all passing setup.py/package.xml updated: sensor_msgs, diagnostic_msgs deps + new entry point. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-14 11:47:01 -04:00
sl-firmware	9683fd3685	feat: Add ROS2 system health monitor (Issue #408) ... Implement centralized health monitoring node that: - Subscribes to /saltybot/<node>/heartbeat from all tracked nodes - Tracks expected nodes from YAML configuration - Marks nodes DEAD if silent >5 seconds - Triggers auto-restart via ros2 launch when nodes fail - Publishes /saltybot/system_health JSON with full status - Alerts face display on critical node failures Features: - Configurable heartbeat timeout (default 5s) - Automatic dead node detection and restart - System health JSON publishing (timestamp, uptime, node status, critical alerts) - Face alert system for critical failures - Rate-limited alerting to avoid spam - Comprehensive monitoring config with critical/important node tiers Package structure: - saltybot_health_monitor: Main health monitoring node - health_config.yaml: Configurable list of monitored nodes - health_monitor.launch.py: Launch file with parameters - Unit tests for heartbeat parsing and health status generation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-05 08:52:52 -05:00