Watchdog humble - Githubissues

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.

MIT License

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Watchdog humble #377

Closed Serafadam closed 10 months ago

Serafadam commented 10 months ago

Overview

Author: @Serafadam

Issue

Issue link (if present): https://github.com/luxonis/depthai-ros/issues/344 Issue description: Add diagnostic updater and mechanism to restart the node if an error occurs. Related PRs N/A

Changes

ROS distro: Humble List of changes:

Add SysLogger BaseNode which polls SystemInformation from the device
If there is an error publish that on diagnostics topic
In camera base class add subscription to diagnostics topic, if it detects an error, it attempts to restart the device

Testing

Hardware used: OAK-D-PRO Depthai library version: v2.22.0

Visuals from testing

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.