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>