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feat(controls): Watchdog timer node — heartbeat monitor for critical ROS2 nodes #203

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opened 2026-03-02 11:15:29 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:15:29 -05:00
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Single ROS2 node. Subscribe to heartbeat topics from critical nodes (balance, motor driver, emergency, docking). If any node stops publishing for >1s, publish alert on /saltybot/node_watchdog (JSON: node_name, last_seen, status). If motor driver heartbeat lost >2s, publish zero cmd_vel as safety fallback. 20Hz. Include unit tests.

Single ROS2 node. Subscribe to heartbeat topics from critical nodes (balance, motor driver, emergency, docking). If any node stops publishing for >1s, publish alert on /saltybot/node_watchdog (JSON: node_name, last_seen, status). If motor driver heartbeat lost >2s, publish zero cmd_vel as safety fallback. 20Hz. 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#203
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