sl-jetson
58bb5ef18e
New saltybot_thermal package with thermal_node: reads all /sys/class/thermal/thermal_zone* sysfs entries (millidegrees→°C), publishes /saltybot/thermal JSON at 1 Hz with zones[], max_temp_c, warn, and throttled flags. Logs ROS2 WARN at ≥75°C, ERROR at ≥85°C. thermal_root param allows sysfs override for offline testing. 50/50 tests passing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
43 lines
1.5 KiB
Python
43 lines
1.5 KiB
Python
"""thermal.launch.py — Launch the Jetson thermal monitor (Issue #205).
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Usage:
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ros2 launch saltybot_thermal thermal.launch.py
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ros2 launch saltybot_thermal thermal.launch.py warn_temp_c:=70.0
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg = get_package_share_directory("saltybot_thermal")
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cfg = os.path.join(pkg, "config", "thermal_params.yaml")
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return LaunchDescription([
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DeclareLaunchArgument("publish_rate_hz", default_value="1.0",
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description="Publish rate (Hz)"),
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DeclareLaunchArgument("warn_temp_c", default_value="75.0",
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description="WARN threshold (°C)"),
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DeclareLaunchArgument("throttle_temp_c", default_value="85.0",
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description="THROTTLE threshold (°C)"),
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Node(
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package="saltybot_thermal",
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executable="thermal_node",
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name="thermal_node",
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output="screen",
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parameters=[
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cfg,
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{
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"publish_rate_hz": LaunchConfiguration("publish_rate_hz"),
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"warn_temp_c": LaunchConfiguration("warn_temp_c"),
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"throttle_temp_c": LaunchConfiguration("throttle_temp_c"),
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},
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],
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),
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])
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