sl-firmware
41dc80ea7d
Comprehensive hardware diagnostics and health monitoring for SaltyBot. Startup hardware checks: - RPLIDAR, RealSense, VESC, Jabra microphone, STM32 bridge - Servo controller, WiFi, GPS module - Disk space, system RAM, CPU temperature - Boot result via TTS + face animation Runtime monitoring: - Temperature thresholds (Orin GPU >80C, VESC >60C) - Network latency to 8.8.8.8 - System resource tracking (CPU, RAM, disk) Features: - Publishes /saltybot/diagnostics (DiagnosticArray) - JSON logging to /home/seb/saltybot-data/diagnostics/ - Configuration-driven via YAML - Boot animations and TTS announcements - Configurable startup and runtime checks Package structure: - saltybot_diagnostics: Main diagnostics node - diagnostic_checks.yaml: Hardware config + thresholds - diagnostics.launch.py: Launch file with parameters - Unit tests for check aggregation and logging Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
29 lines
1014 B
XML
29 lines
1014 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_diagnostics</name>
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<version>0.1.0</version>
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<description>
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Comprehensive diagnostic self-test system for SaltyBot. Performs startup hardware
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checks (RPLIDAR, RealSense, VESC, Jabra, servos, WiFi, GPS, disk, RAM) and
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continuous monitoring (sensor FPS, motor stall, temps, network latency).
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</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>diagnostic_msgs</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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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>python3-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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