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feat(jetson): camera health watchdog — 6 streams, WARNING/ERROR, v4l2 reset (issue #198) #199

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sl-jetson merged 1 commits from sl-perception/issue-198-camera-health into main 2026-03-02 11:12:32 -05:00
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Author SHA1 Message Date
sl-perception
e6065e1531 feat(jetson): camera health watchdog node (issue #198) 
Adds camera_health_node.py + _camera_state.py to saltybot_bringup:

• _camera_state.py  — pure-Python CameraState dataclass (no ROS2):
                       on_frame(), age_s, fps(window_s), status(),
                       should_reset() + mark_reset() with 30s cooldown

• camera_health_node.py — subscribes 6 image topics (D435i color/depth
                           + 4× IMX219 CSI front/right/rear/left);
                           1 Hz tick: WARNING at >2s silence, ERROR at
                           >10s + v4l2 stream-off/on reset for CSI cams;
                           publishes /saltybot/camera_health JSON with
                           per-camera status, age_s, fps, total_frames

• test/test_camera_health.py — 15 unit tests (15/15 pass, no ROS2 needed)
• setup.py — adds camera_health_monitor console_scripts entry point

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 11:11:48 -05:00