Implement centralized health monitoring node that:
- Subscribes to /saltybot/<node>/heartbeat from all tracked nodes
- Tracks expected nodes from YAML configuration
- Marks nodes DEAD if silent >5 seconds
- Triggers auto-restart via ros2 launch when nodes fail
- Publishes /saltybot/system_health JSON with full status
- Alerts face display on critical node failures
Features:
- Configurable heartbeat timeout (default 5s)
- Automatic dead node detection and restart
- System health JSON publishing (timestamp, uptime, node status, critical alerts)
- Face alert system for critical failures
- Rate-limited alerting to avoid spam
- Comprehensive monitoring config with critical/important node tiers
Package structure:
- saltybot_health_monitor: Main health monitoring node
- health_config.yaml: Configurable list of monitored nodes
- health_monitor.launch.py: Launch file with parameters
- Unit tests for heartbeat parsing and health status generation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
