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8e03a209be
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feat: ROS2 sensor health monitor (Issue #566)
Add sensor_health_node to saltybot_health_monitor package. Monitors 8
sensor topics for staleness, publishing DiagnosticArray on
/saltybot/diagnostics and MQTT JSON on saltybot/health.
Sensors monitored (configurable thresholds):
/camera/color/image_raw, /camera/depth/image_rect_raw,
/camera/color/camera_info, /scan, /imu/data,
/saltybot/uwb/range, /saltybot/battery, /saltybot/motor_daemon/status
Each sensor: OK/WARN/ERROR based on topic age vs warn_s/error_s thresholds.
Critical sensors (camera, lidar, imu, motor_daemon) escalate overall status.
Files added:
sensor_health_node.py — SensorWatcher + SensorHealthNode
config/sensor_health_params.yaml — per-sensor thresholds
launch/sensor_health.launch.py
test/test_sensor_health.py — 35 tests, all passing
setup.py/package.xml updated: sensor_msgs, diagnostic_msgs deps + new entry point.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-14 11:47:01 -04:00 |
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