sl-jetson
8e03a209be
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>
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
from setuptools import setup
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package_name = "saltybot_health_monitor"
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setup(
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name=package_name,
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version="0.2.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", [
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"launch/health_monitor.launch.py",
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"launch/sensor_health.launch.py",
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]),
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(f"share/{package_name}/config", [
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"config/health_config.yaml",
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"config/sensor_health_params.yaml",
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]),
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],
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install_requires=["setuptools", "pyyaml", "paho-mqtt"],
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zip_safe=True,
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maintainer="sl-jetson",
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maintainer_email="sl-jetson@saltylab.local",
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description=(
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"System health monitor: node heartbeats + sensor topic staleness "
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"detection with DiagnosticArray and MQTT (Issue #566)"
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),
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license="Apache-2.0",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"health_monitor_node = saltybot_health_monitor.health_monitor_node:main",
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"sensor_health_node = saltybot_health_monitor.sensor_health_node:main",
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],
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},
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)
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