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feat(perception): Camera health monitor — watchdog node for CSI/D435i stream liveness #198

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opened 2026-03-02 11:08:57 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:08:57 -05:00
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Single ROS2 node. Subscribe to all 5 camera image topics (4x CSI + D435i). Track last-received timestamp per camera. If any stream goes silent for >2s, publish diagnostic WARNING on /diagnostics. If >10s, publish ERROR + attempt v4l2 device reset for CSI cameras. Publish /saltybot/camera_health (JSON with per-camera status) at 1Hz. Include unit tests.

Single ROS2 node. Subscribe to all 5 camera image topics (4x CSI + D435i). Track last-received timestamp per camera. If any stream goes silent for >2s, publish diagnostic WARNING on /diagnostics. If >10s, publish ERROR + attempt v4l2 device reset for CSI cameras. Publish /saltybot/camera_health (JSON with per-camera status) at 1Hz. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#198
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