saltylab-firmware

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sl-firmware c66a5ce974 feat: Add Issue #408 - ROS2 system health monitor with node heartbeats + auto-restart

Implements central health monitoring system for SaltyBot with:
- Heartbeat subscription from /saltybot/<node_name>/heartbeat
- Dead node detection (>5s timeout, configurable)
- Automatic restart via ros2 launch with configurable retry limits
- System health publishing to /saltybot/system_health (JSON)
- Face alert integration for CRITICAL node failures
- Full_stack.launch.py integration at t=1s launch sequence

Package structure:
- saltybot_system_health: Main ROS2 package
  - health_monitor_node.py: Central monitoring node
  - msg/SystemHealth.msg, msg/NodeStatus.msg: Health status messages
  - config/health_monitor.yaml: Node definitions and criticality levels
  - launch/health_monitor.launch.py: Standalone launch

Configuration:
- heartbeat_timeout: 5.0 seconds (node marked DEAD if missing)
- monitor_freq: 2.0 Hz (check interval)
- auto_restart: enabled with max 3 restarts per node
- face_alert: triggers on CRITICAL node down

Node definitions include: robot_state_publisher, STM32 bridge,
cmd_vel bridge, sensors (RPLIDAR, RealSense), SLAM (RTAB-Map),
Nav2, perception, follower, and rosbridge.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-04 22:44:30 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108 )

2026-03-02 08:50:22 -05:00

.pio/build

fix: rename MeshPeer namespace field to ros_namespace (Issue #392 )

2026-03-04 12:42:35 -05:00

chassis

feat(mechanical): RPLIDAR A1 parametric dust/splash cover (Issue #301 )

2026-03-02 21:36:58 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm