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>
27 lines
753 B
XML
27 lines
753 B
XML
<?xml version="1.0"?>
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<package format="3">
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<name>saltybot_health_monitor</name>
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<version>0.2.0</version>
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<description>
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ROS2 health monitor for SaltyBot. Tracks node heartbeats and sensor topic
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staleness. Publishes DiagnosticArray on /saltybot/diagnostics and MQTT on
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saltybot/health. Issue #566.
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</description>
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<maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
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<license>Apache-2.0</license>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>diagnostic_msgs</depend>
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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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