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ROS2 sensor health monitor node #566

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opened 2026-03-14 11:42:00 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 11:42:00 -04:00
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Implement ROS2 node that monitors all sensor topics and reports health status.

Requirements:

  • Monitor topic rates: /camera/, /scan (RPLIDAR), /imu/data, /saltybot/uwb/, /saltybot/battery
  • Detect stale topics (no message within expected period)
  • Publish /saltybot/diagnostics (diagnostic_msgs/DiagnosticArray)
  • MQTT publish to saltybot/health for external monitoring
  • Configurable thresholds per sensor
  • Summary: OK/WARN/ERROR per sensor, overall system health
  • Log transitions (sensor went offline/online)

Deliverables:

  • ROS2 Python package: saltybot_health_monitor
  • Launch file + params YAML
  • Integration with WebUI diagnostics dashboard

Assigned to: sl-jetson

Implement ROS2 node that monitors all sensor topics and reports health status. **Requirements:** - Monitor topic rates: /camera/*, /scan (RPLIDAR), /imu/data, /saltybot/uwb/*, /saltybot/battery - Detect stale topics (no message within expected period) - Publish /saltybot/diagnostics (diagnostic_msgs/DiagnosticArray) - MQTT publish to saltybot/health for external monitoring - Configurable thresholds per sensor - Summary: OK/WARN/ERROR per sensor, overall system health - Log transitions (sensor went offline/online) **Deliverables:** - ROS2 Python package: saltybot_health_monitor - Launch file + params YAML - Integration with WebUI diagnostics dashboard Assigned to: sl-jetson
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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#566
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