saltybot_health_monitor 0.2.0 ROS2 health monitor for SaltyBot. Tracks node heartbeats and sensor topic staleness. Publishes DiagnosticArray on /saltybot/diagnostics and MQTT on saltybot/health. Issue #566. sl-jetson Apache-2.0 rclpy std_msgs geometry_msgs sensor_msgs diagnostic_msgs ament_python pytest ament_python