MINT Sensor Watchdog ROS 2

Reference-inspired sensor freshness watchdog for ROS 2.

The core model follows .reference/SensorWatchdog.hpp from the previous package:

sensor input -> reset timestamp -> periodic timeout check -> timeout callback

Recovery is intentionally separate from the watchdog core. A timeout can request recovery, but the sensor watchdog itself only owns freshness state.

Build

cd /home/hdwook/Documents/sensor_ws
colcon build --packages-select mint_sensor_watchdog_ros2

Run

ros2 launch mint_sensor_watchdog_ros2 sensor_watchdog.launch.py

With a custom config:

ros2 launch mint_sensor_watchdog_ros2 sensor_watchdog.launch.py   config_path:=/path/to/sensors.yaml

Recovery Timing

startup_grace is the warm-up window after the watchdog starts and after each recovery attempt. During this window, stale checks and recovery are skipped for that sensor. cooldown is the minimum interval after a recovery attempt before another recovery can be started.

Livox Lidar

The default config includes a livox_lidar entry. It assumes /livox/lidar publishes livox_ros_driver2/msg/CustomMsg. If the Livox driver is configured for PointCloud2 output, change that topic type to sensor_msgs/msg/PointCloud2 and make sure the Livox driver package is in the sourced ROS environment.