From a5e1c9930bad4a8be7a6f28020bec10c0fb64bbb Mon Sep 17 00:00:00 2001 From: Grant Date: Wed, 8 Jul 2026 18:24:15 +0200 Subject: [PATCH] fix(launch): respawn safety and state-critical nodes (failsafe_monitor, motion_controller, ekf, depth, mission_executor) --- src/rov_control/launch/control.launch.py | 4 ++++ src/rov_mission/launch/mission.launch.py | 2 ++ src/rov_navigation/launch/navigation.launch.py | 4 ++++ 3 files changed, 10 insertions(+) diff --git a/src/rov_control/launch/control.launch.py b/src/rov_control/launch/control.launch.py index 84a7ca0..58f6280 100644 --- a/src/rov_control/launch/control.launch.py +++ b/src/rov_control/launch/control.launch.py @@ -18,6 +18,8 @@ def generate_launch_description(): name='failsafe_monitor', output='screen', parameters=[failsafe_config], + respawn=True, + respawn_delay=5.0, ), # Motion controller Node( @@ -25,5 +27,7 @@ def generate_launch_description(): executable='motion_controller', name='motion_controller', output='screen', + respawn=True, + respawn_delay=5.0, ), ]) diff --git a/src/rov_mission/launch/mission.launch.py b/src/rov_mission/launch/mission.launch.py index 073c6ba..a941f23 100644 --- a/src/rov_mission/launch/mission.launch.py +++ b/src/rov_mission/launch/mission.launch.py @@ -36,6 +36,8 @@ def _launch_with_config(context, *args, **kwargs): name='mission_executor', output='screen', parameters=[config_file], + respawn=True, + respawn_delay=5.0, ), Node( package='rov_mission', diff --git a/src/rov_navigation/launch/navigation.launch.py b/src/rov_navigation/launch/navigation.launch.py index 205ed22..2162a61 100644 --- a/src/rov_navigation/launch/navigation.launch.py +++ b/src/rov_navigation/launch/navigation.launch.py @@ -23,6 +23,8 @@ def generate_launch_description(): name='ekf_filter_node', output='screen', parameters=[ekf_config], + respawn=True, + respawn_delay=5.0, ), @@ -32,5 +34,7 @@ def generate_launch_description(): executable='depth_node', name='depth_node', output='screen', + respawn=True, + respawn_delay=5.0, ), ])