Watchdog

Purpose

To create a system that checks that the codebase is working, and will spit out debug information if something is going wrong. Meant to sanity check what code is running, and that the system is running as expected. Inspired by sanity_check in RoboBuggy 2 but done properly.

watchdog_node.py

This is the node that controls the entire watchdog, and other files should be imported and used by this class. It also manages the heartbeat of the system, to make sure that if the entire system for some reason pauses, we can track and monitor that.

Publishers

1. "self/debug/heartbeat" - publishes every 100 Hz to make sure that it continuously publishes correctly.

Subscribers

1. "self/debug/heartbeat" - If somehow this becomes false, ros will scream at us that something terribly wrong has happened.