sl-jetson 8e03a209be 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>

2026-03-14 11:47:01 -04:00

..

audio.h

feat(audio): I2S3 audio amplifier driver — Issue #143

2026-03-02 10:34:35 -05:00

balance.h

feat(imu): MPU6000 sensor fusion with complementary filter

2026-02-28 13:09:18 -05:00

battery_adc.h

feat: Battery voltage ADC driver with DMA sampling (Issue #533)

2026-03-07 10:01:02 -05:00

battery.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

bmp280.h

feat: BME280 full readout — temp, humidity, pressure telemetry (#30)

2026-02-28 19:43:48 -05:00

bno055.h

feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135)

2026-03-02 09:40:18 -05:00

buzzer.h

feat: Add piezo buzzer melody driver (Issue #253)

2026-03-02 12:51:42 -05:00

config.h

feat: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

coulomb_counter.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

crsf.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

esc_backend.h

refactor: ESC abstraction layer with pluggable backends (Issue #388)

2026-03-04 10:36:35 -05:00

face_animation.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_lcd.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_uart.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

fan.h

feat: Add cooling fan PWM speed controller (Issue #263)

2026-03-02 13:29:18 -05:00

gimbal.h

feat: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

hoverboard.h

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

i2c1.h

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

icm42688.h

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

ina219.h

feat: Add INA219 dual motor current monitor driver (Issue #214)

2026-03-02 11:51:26 -05:00

jetson_cmd.h

feat: Jetson→STM32 command protocol — /cmd_vel to serial (Phase 2)

2026-02-28 21:07:15 -05:00

jetson_uart.h

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

jlink.h

feat: ROS2 sensor health monitor (Issue #566)

2026-03-14 11:47:01 -04:00

led.h

feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193)

2026-03-02 11:06:13 -05:00

mag.h

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

mode_manager.h

feat: RC/autonomous mode manager with smooth handoff

2026-02-28 21:06:26 -05:00

motor_driver.h

feat: motor driver layer — differential drive, steer ramp, estop

2026-02-28 17:15:40 -05:00

mpu6000.h

feat: gyro bias calibration on boot — fixes yaw drift (issues #21, #23)

2026-02-28 17:42:24 -05:00

ota.h

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

pid_flash.h

feat: PID auto-tune for balance mode (Issue #531)

2026-03-07 09:56:19 -05:00

power_mgmt.h

feat: Battery voltage ADC driver with DMA sampling (Issue #533)

2026-03-07 10:01:02 -05:00

rgb_fsm.h

feat: Add RGB status LED state machine (Issue #290)

2026-03-02 20:49:26 -05:00

safety.h

feat(safety): remote e-stop over 4G MQTT (Issue #63)

2026-03-01 04:55:54 -05:00

servo_bus.h

feat: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

servo.h

fix: Resolve all compile and linker errors (Issue #337)

2026-03-03 19:00:12 -05:00

status.h

feat(safety): remote e-stop over 4G MQTT (Issue #63)

2026-03-01 04:55:54 -05:00

ultrasonic.h

feat: Add HC-SR04 ultrasonic distance sensor driver (Issue #243)

2026-03-02 12:22:09 -05:00

watchdog.h

feat(webui): motor current live graph (Issue #297)

2026-03-02 21:09:17 -05:00