fix(launch): respawn safety and state-critical nodes (failsafe_monitor, motion_controller, ekf, depth, mission_executor)

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,
         ),
     ])

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',

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,
         ),
     ])