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>
sl-firmware
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