sl-controls
e247389b07
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>