sl-controls
7d09c8c814
Implements node watchdog ROS2 node that monitors heartbeats from critical systems and triggers safety fallback when motor driver is lost >2s. Features: - Monitor heartbeats from: balance, motor_driver, emergency, docking - Alert on /saltybot/node_watchdog (JSON) if heartbeat lost >1s - Safety fallback: zero cmd_vel if motor driver lost >2s - Republish cmd_vel on /saltybot/cmd_vel_safe with safety checks - 20Hz monitoring and publishing frequency - Configurable heartbeat timeout thresholds Heartbeat Topics: - /saltybot/balance_heartbeat (std_msgs/UInt32) - /saltybot/motor_driver_heartbeat (std_msgs/UInt32) - /saltybot/emergency_heartbeat (std_msgs/UInt32) - /saltybot/docking_heartbeat (std_msgs/UInt32) - /cmd_vel (geometry_msgs/Twist) Published Topics: - /saltybot/node_watchdog (std_msgs/String) - JSON status - /saltybot/cmd_vel_safe (geometry_msgs/Twist) - Safety-checked velocity Package: saltybot_node_watchdog Entry point: node_watchdog_node Launch file: node_watchdog.launch.py Tests: 20+ unit tests covering: - Heartbeat reception and timeout detection - Motor driver critical timeout (>2s) - Safety fallback logic - cmd_vel zeroing on motor driver loss - Health status JSON serialization - Multi-node failure scenarios Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
30 lines
915 B
Python
30 lines
915 B
Python
from setuptools import setup
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package_name = "saltybot_node_watchdog"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", ["launch/node_watchdog.launch.py"]),
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(f"share/{package_name}/config", ["config/watchdog_config.yaml"]),
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],
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install_requires=["setuptools"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description=(
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"Node watchdog: heartbeat monitoring with safety fallback for critical systems"
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),
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"node_watchdog_node = saltybot_node_watchdog.node_watchdog_node:main",
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],
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},
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)
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