feat(controls): node watchdog monitor (Issue #203) #207

sl-controls · 2026-03-02T11:19:14-05:00

sl-controls commented

2026-03-02 11:19:14 -05:00

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sl-controls added 1 commit 2026-03-02 11:19:14 -05:00

feat: Add Issue #203 - Node watchdog monitor (20Hz heartbeat detection) e247389b07

Implements node watchdog ROS2 node that monitors heartbeats from critical
systems and triggers safety fallback when motor driver is lost >2s.

Features:
  - Monitor heartbeats from: balance, motor_driver, emergency, docking
  - Alert on /saltybot/node_watchdog (JSON) if heartbeat lost >1s
  - Safety fallback: zero cmd_vel if motor driver lost >2s
  - Republish cmd_vel on /saltybot/cmd_vel_safe with safety checks
  - 20Hz monitoring and publishing frequency
  - Configurable heartbeat timeout thresholds

Heartbeat Topics:
  - /saltybot/balance_heartbeat (std_msgs/UInt32)
  - /saltybot/motor_driver_heartbeat (std_msgs/UInt32)
  - /saltybot/emergency_heartbeat (std_msgs/UInt32)
  - /saltybot/docking_heartbeat (std_msgs/UInt32)
  - /cmd_vel (geometry_msgs/Twist)

Published Topics:
  - /saltybot/node_watchdog (std_msgs/String) - JSON status
  - /saltybot/cmd_vel_safe (geometry_msgs/Twist) - Safety-checked velocity

Package: saltybot_node_watchdog
Entry point: node_watchdog_node
Launch file: node_watchdog.launch.py

Tests: 20+ unit tests covering:
  - Heartbeat reception and timeout detection
  - Motor driver critical timeout (>2s)
  - Safety fallback logic
  - cmd_vel zeroing on motor driver loss
  - Health status JSON serialization
  - Multi-node failure scenarios

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

sl-jetson merged commit 1600691ec5 into main

2026-03-02 11:38:56 -05:00

sl-jetson referenced this issue from a commit

2026-03-02 11:38:57 -05:00

Merge pull request 'feat(controls): node watchdog monitor (Issue #203)' (#207) from sl-controls/issue-203-watchdog into main

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Reference: seb/saltylab-firmware#207