# SaltyBot Diagnostic Self-Test System

Comprehensive hardware diagnostics and health monitoring for SaltyBot.

## Features

### Startup Checks
- RPLIDAR, RealSense, VESC, Jabra mic, STM32, servos
- WiFi, GPS, disk space, RAM
- Boot result TTS + face animation
- JSON logging

### Runtime Monitoring
- Temperature (Orin GPU >80C, VESC >60C)
- Network latency
- Sensor FPS drops
- System resources

## Launch

```bash
ros2 launch saltybot_diagnostics diagnostics.launch.py
```

## Topics

- `/saltybot/diagnostics` (DiagnosticArray)
- `/saltybot/tts_say` (String) - Boot announcements
- `/saltybot/face/boot_animation` (String)

## Logs

Diagnostic logs: `/home/seb/saltybot-data/diagnostics/`

JSON format with hardware status, temperatures, and resource usage.