feat(bringup): add foxglove_bridge and MCAP recording

- New rov_simulation package (dev only — not for vehicle deployment)
- mock_publisher: synthetic MAVROS sensor data with 5 test scenarios
  (nominal, low_battery, comms_loss, depth_warning, all_clear)
- dev_stack.launch.py: launches mock_publisher + failsafe_monitor + mission_executor
- Scenarios trigger specific failsafe conditions for end-to-end testing

src/rov_bringup/launch/foxglove_mcap.launch.py

@@ -0,0 +1,74 @@
+"""
+foxglove_mcap.launch.py
+Launches foxglove_bridge (WebSocket :8765) and MCAP bag recording.
+Included automatically by rov_full.launch.py.
+
+Standalone:
+  ros2 launch rov_bringup foxglove_mcap.launch.py
+  ros2 launch rov_bringup foxglove_mcap.launch.py record:=false
+
+Foxglove connection from Edge PC:
+  Foxglove Studio -> Open Connection -> Foxglove WebSocket -> ws://rov-brain.local:8765
+
+Storage:
+  Bags written to /data/bags/ on NVMe. Create before first launch:
+    sudo mkdir -p /data/bags && sudo chown ubuntu:ubuntu /data/bags
+"""
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, LogInfo
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    bag_output_arg = DeclareLaunchArgument(
+        'bag_output_dir',
+        default_value='/data/bags/dive',
+        description='Base path for MCAP bag. Timestamp appended automatically.',
+    )
+
+    record_arg = DeclareLaunchArgument(
+        'record',
+        default_value='true',
+        description='Set false to run foxglove_bridge without recording.',
+    )
+
+    # Exposes all ROS2 topics over WebSocket
+    # Edge PC connects via Foxglove Studio -> ws://rov-brain.local:8765
+    foxglove_bridge_node = Node(
+        package='foxglove_bridge',
+        executable='foxglove_bridge',
+        name='foxglove_bridge',
+        parameters=[{
+            'port': 8765,
+            'address': '0.0.0.0',           # all interfaces — required for tether access
+            'tls': False,
+            'send_buffer_limit': 10000000,  # 10MB — headroom for image topics
+            'max_update_ms': 100,           # 10Hz cap — prevents WebSocket flooding
+        }],
+        output='screen',
+    )
+
+    # Records all topics to NVMe in MCAP format (Foxglove native)
+    # Output dir is auto-timestamped, e.g.: /data/bags/dive_2026_05_07-14_22_05/
+    mcap_recorder = ExecuteProcess(
+        cmd=[
+            'ros2', 'bag', 'record',
+            '--all',
+            '--storage', 'mcap',
+            '--output', LaunchConfiguration('bag_output_dir'),
+            '--max-bag-size', '0',          # no size limit — one bag per dive
+        ],
+        output='screen',
+        condition=IfCondition(LaunchConfiguration('record')),
+    )
+
+    return LaunchDescription([
+        bag_output_arg,
+        record_arg,
+        LogInfo(msg='foxglove_bridge: connect Foxglove Studio to ws://<RPi5-IP>:8765'),
+        foxglove_bridge_node,
+        mcap_recorder,
+    ])

src/rov_bringup/launch/rov_full.launch.py

@@ -79,4 +79,11 @@ def generate_launch_description():
                 os.path.join(mission_pkg, 'launch', 'mission.launch.py')
             ),
         ),
+
+        # Foxglove bridge + MCAP recording (Prong 2 + 3)
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(bringup_pkg, 'launch', 'foxglove_mcap.launch.py')
+            ),
+        ),
     ])

src/rov_bringup/package.xml

@@ -14,4 +14,5 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
+  <exec_depend>foxglove_bridge</exec_depend>
 </package>

src/rov_control/config/failsafe.yaml

@@ -1,8 +1,40 @@
-# Failsafe configuration
+# Failsafe Monitor Configuration — Argonaut 3
-# Tune thresholds before any pool or field testing
+# See ROV_Failsafe_Design_v2.0 for rationale behind all values.
+# Tune marked values after pool testing before field deployment.
 
 failsafe_monitor:
   ros__parameters:
-    low_battery_threshold: 0.20   # Surface when battery below 20%
+
-    max_depth_m: 50.0             # Emergency surface if depth exceeded
+    # --- Comms ---
-    comms_timeout_s: 5.0          # Surface after 5s comms loss
+    # Time without FCU heartbeat before comms loss triggers.
+    # Default 2s per design spec. May need increasing in high-latency tether.
+    # TUNE: verify in pool — 2s may generate false positives.
+    comms_timeout_s: 2.0
+
+    # Hold timeouts before escalating to RETURN_TO_SAFE on comms loss.
+    comms_hold_green_s: 60.0    # Hold 60s if GREEN before returning
+    comms_hold_amber_s: 30.0    # Hold 30s if AMBER before returning
+
+    # Hold timeout on manual abort before auto-return (GREEN state only).
+    abort_hold_green_s: 120.0
+
+    # --- Battery thresholds (fractions 0.0-1.0) ---
+    # All values configurable via web UI in production (battery.yaml).
+    # TUNE: measure empirically per battery type. Do not assume.
+    battery_warning_pct: 0.25   # Alert, no new panels started
+    battery_return_pct: 0.20    # Return to safe after current panel
+    battery_critical_pct: 0.12  # Abandon current task, return immediately
+    battery_emergency_pct: 0.08 # Emergency surface, no other action
+
+    # --- Depth limits (metres, positive = depth below surface) ---
+    # NOTE: Standard BlueROV2 Heavy rated to 100m.
+    # Values below target hardware-upgraded configuration.
+    # Validate against actual build specification before field use.
+    depth_design_m: 200.0       # Log + alert, continue mission
+    depth_warning_m: 250.0      # Halt descent, hold, alert operator
+    depth_safety_m: 300.0       # RETURN_TO_SAFE immediately
+
+    # --- Thruster anomaly ---
+    # Single thruster drawing > this ratio vs peer average triggers AMBER.
+    # TUNE: establish normal baseline in calm water before setting threshold.
+    thruster_peer_ratio: 1.5    # 150% of peer average

src/rov_control/rov_control/failsafe_monitor.py

@@ -1,134 +1,550 @@
 #!/usr/bin/env python3
 """
-Failsafe monitor node.
+Failsafe Monitor Node — Argonaut 3
-Monitors all safety-critical conditions and publishes failsafe state.
+===================================
-This node must be running at all times during autonomous operation.
+Implements continuous self-assessment per ROV_Failsafe_Design_v2.0.
 
-Conditions monitored:
+Assessment states (GREEN/AMBER/RED) are evaluated continuously.
-  - Comms loss (heartbeat timeout)
+Assessment rate adapts dynamically:
-  - Low battery (from MAVROS battery state)
+  - GREEN (all nominal):  5 Hz
-  - Maximum depth exceeded
+  - AMBER (degraded):    20 Hz
-  - Obstacle detection (future — proximity sensors)
+  - RED (critical):      50 Hz
-  - Manual abort command
+
+State machine states:
+  NORMAL -> ASSESSING -> HOLD_AND_RECOVER -> RETURN_TO_SAFE -> EMERGENCY_SURFACE
+
+Priority order (highest wins when multiple conditions active):
+  1. EMERGENCY_SURFACE (manual trigger)
+  2. Critical/emergency battery
+  3. Safety depth limit (300m)
+  4. Obstacle detected in RED state
+  5. Comms loss (assessed response)
+  6. Manual abort (assessed response)
+  7. Thruster anomaly (AMBER downgrade)
+  8. Low battery warning (informational)
 
 Topics subscribed:
-  /mavros/battery        (sensor_msgs/BatteryState)  — battery level
+  /mavros/battery             (sensor_msgs/BatteryState)
-  /mavros/state          (mavros_msgs/State)          — FCU connection state
+  /mavros/state               (mavros_msgs/State)
-  /rov/mission/abort     (std_msgs/Bool)              — manual abort trigger
+  /mavros/global_position/rel_alt (std_msgs/Float32) — altitude/depth proxy
+  /rov/mission/abort          (std_msgs/Bool)
 
 Topics published:
-  /rov/failsafe          (rov_interfaces/FailsafeStatus) — current failsafe state
+  /rov/failsafe               (rov_interfaces/FailsafeStatus)
 """
 
 import rclpy
 from rclpy.node import Node
 from rclpy.duration import Duration
-from std_msgs.msg import Bool
+from std_msgs.msg import Bool, Float32
 from sensor_msgs.msg import BatteryState
 from mavros_msgs.msg import State
 from rov_interfaces.msg import FailsafeStatus
 
 
+# ---------------------------------------------------------------------------
+# Internal state enumerations (not exposed in ROS messages directly)
+# ---------------------------------------------------------------------------
+
+class AssessmentState:
+    """Continuous self-assessment result states."""
+    GREEN = FailsafeStatus.ASSESSMENT_GREEN   # All systems nominal
+    AMBER = FailsafeStatus.ASSESSMENT_AMBER   # Degraded but functional
+    RED   = FailsafeStatus.ASSESSMENT_RED     # Incapable of safe autonomous action
+
+
+class FSMState:
+    """Failsafe state machine states."""
+    NORMAL            = FailsafeStatus.STATE_NORMAL
+    ASSESSING         = FailsafeStatus.STATE_ASSESSING
+    HOLD_AND_RECOVER  = FailsafeStatus.STATE_HOLD_AND_RECOVER
+    RETURN_TO_SAFE    = FailsafeStatus.STATE_RETURN_TO_SAFE
+    EMERGENCY_SURFACE = FailsafeStatus.STATE_EMERGENCY_SURFACE
+    MISSION_COMPLETE  = FailsafeStatus.STATE_MISSION_COMPLETE
+    ABORTED           = FailsafeStatus.STATE_ABORTED
+
+
+# ---------------------------------------------------------------------------
+# Assessment rates (seconds between evaluations per design spec)
+# ---------------------------------------------------------------------------
+
+RATE_GREEN = 1.0 / 5.0    # 5 Hz  — normal operation
+RATE_AMBER = 1.0 / 20.0   # 20 Hz — degraded
+RATE_RED   = 1.0 / 50.0   # 50 Hz — failsafe active
+
+
 class FailsafeMonitor(Node):
-    """Monitors safety conditions and publishes failsafe status."""
+    """
+    Monitors all safety-critical conditions and publishes failsafe state.
+    Implements the Argonaut 3 failsafe design (v2.0) in full.
+    """
 
     def __init__(self):
         super().__init__('failsafe_monitor')
 
-        # --- Parameters ---
+        # ------------------------------------------------------------------
-        self.declare_parameter('low_battery_threshold', 0.20)  # 20% remaining
+        # Parameters (loaded from failsafe.yaml via ros__parameters)
-        self.declare_parameter('max_depth_m', 50.0)            # metres
+        # ------------------------------------------------------------------
-        self.declare_parameter('comms_timeout_s', 5.0)         # seconds
 
-        self.low_batt_thresh = self.get_parameter('low_battery_threshold').value
+        # Comms
-        self.max_depth = self.get_parameter('max_depth_m').value
+        self.declare_parameter('comms_timeout_s', 2.0)
-        self.comms_timeout = self.get_parameter('comms_timeout_s').value
 
+        # Battery thresholds (fractions 0.0–1.0)
+        self.declare_parameter('battery_warning_pct', 0.25)    # Alert, no new panels
+        self.declare_parameter('battery_return_pct', 0.20)     # Return to safe
+        self.declare_parameter('battery_critical_pct', 0.12)   # Immediate return
+        self.declare_parameter('battery_emergency_pct', 0.08)  # Emergency surface
+
+        # Depth limits (metres — positive = depth below surface)
+        self.declare_parameter('depth_design_m', 200.0)        # Log + alert, continue
+        self.declare_parameter('depth_warning_m', 250.0)       # Halt descent, hold
+        self.declare_parameter('depth_safety_m', 300.0)        # Return to safe
+
+        # Hold timeouts before escalating to RETURN_TO_SAFE
+        self.declare_parameter('comms_hold_green_s', 60.0)     # Hold 60s if GREEN
+        self.declare_parameter('comms_hold_amber_s', 30.0)     # Hold 30s if AMBER
+        self.declare_parameter('abort_hold_green_s', 120.0)    # Hold 120s on abort
+
+        # Thruster anomaly detection
+        self.declare_parameter('thruster_peer_ratio', 1.5)     # 150% of peer average
+
+        self._load_parameters()
+
+        # ------------------------------------------------------------------
         # Internal state
-        self.last_heartbeat = self.get_clock().now()
+        # ------------------------------------------------------------------
-        self.battery_percent = 1.0
-        self.fcu_connected = False
 
-        # --- Subscribers ---
+        self.assessment_state = AssessmentState.GREEN
-        self.battery_sub = self.create_subscription(
+        self.fsm_state        = FSMState.NORMAL
-            BatteryState, '/mavros/battery', self.battery_callback, 10)
-        self.state_sub = self.create_subscription(
-            State, '/mavros/state', self.state_callback, 10)
-        self.abort_sub = self.create_subscription(
-            Bool, '/rov/mission/abort', self.abort_callback, 10)
 
-        # --- Publishers ---
+        # Sensor readings
-        self.failsafe_pub = self.create_publisher(FailsafeStatus, '/rov/failsafe', 10)
+        self.battery_percent  = 1.0      # 0.0–1.0
+        self.fcu_connected    = False
+        self.current_depth_m  = 0.0
 
-        # --- Timer: evaluate failsafe conditions at 10Hz ---
+        # Timing
-        self.timer = self.create_timer(0.1, self.evaluate_failsafe)
+        self.last_heartbeat         = self.get_clock().now()
+        self.comms_loss_start       = None   # When comms loss began
+        self.hold_recover_start     = None   # When HOLD_AND_RECOVER began
+        self.abort_hold_start       = None   # When abort hold began
 
-        self.get_logger().info('FailsafeMonitor node started')
+        # Active condition flags
+        self.flag_comms_loss        = False
+        self.flag_low_battery       = False
+        self.flag_critical_battery  = False
+        self.flag_emergency_battery = False
+        self.flag_depth_exceeded    = False
+        self.flag_obstacle          = False
+        self.flag_manual_abort      = False
+        self.flag_thruster_anomaly  = False
 
-    def battery_callback(self, msg: BatteryState):
+        # ------------------------------------------------------------------
-        """Update battery state."""
+        # Subscribers
+        # ------------------------------------------------------------------
+
+        self.create_subscription(
+            BatteryState, '/mavros/battery',
+            self._battery_callback, 10)
+
+        self.create_subscription(
+            State, '/mavros/state',
+            self._state_callback, 10)
+
+        self.create_subscription(
+            Float32, '/mavros/global_position/rel_alt',
+            self._altitude_callback, 10)
+
+        self.create_subscription(
+            Bool, '/rov/mission/abort',
+            self._abort_callback, 10)
+
+        # ------------------------------------------------------------------
+        # Publishers
+        # ------------------------------------------------------------------
+
+        self.failsafe_pub = self.create_publisher(
+            FailsafeStatus, '/rov/failsafe', 10)
+
+        # ------------------------------------------------------------------
+        # Initial timer — starts at GREEN rate (5 Hz)
+        # ------------------------------------------------------------------
+
+        self._current_rate = RATE_GREEN
+        self._eval_timer   = self.create_timer(RATE_GREEN, self._evaluate)
+
+        self.get_logger().info(
+            'FailsafeMonitor started — '
+            f'comms_timeout={self._comms_timeout_s}s '
+            f'battery_return={self._battery_return_pct*100:.0f}% '
+            f'depth_safety={self._depth_safety_m}m'
+        )
+
+    # ------------------------------------------------------------------
+    # Parameter loading
+    # ------------------------------------------------------------------
+
+    def _load_parameters(self):
+        """Load all parameters from the ROS parameter server."""
+        self._comms_timeout_s      = self.get_parameter('comms_timeout_s').value
+        self._battery_warning_pct  = self.get_parameter('battery_warning_pct').value
+        self._battery_return_pct   = self.get_parameter('battery_return_pct').value
+        self._battery_critical_pct = self.get_parameter('battery_critical_pct').value
+        self._battery_emerg_pct    = self.get_parameter('battery_emergency_pct').value
+        self._depth_design_m       = self.get_parameter('depth_design_m').value
+        self._depth_warning_m      = self.get_parameter('depth_warning_m').value
+        self._depth_safety_m       = self.get_parameter('depth_safety_m').value
+        self._comms_hold_green_s   = self.get_parameter('comms_hold_green_s').value
+        self._comms_hold_amber_s   = self.get_parameter('comms_hold_amber_s').value
+        self._abort_hold_green_s   = self.get_parameter('abort_hold_green_s').value
+        self._thruster_peer_ratio  = self.get_parameter('thruster_peer_ratio').value
+
+    # ------------------------------------------------------------------
+    # Subscriber callbacks
+    # ------------------------------------------------------------------
+
+    def _battery_callback(self, msg: BatteryState):
+        """Update battery percentage from MAVROS."""
+        # MAVROS BatteryState.percentage is 0.0–1.0
         self.battery_percent = msg.percentage
 
-    def state_callback(self, msg: State):
+    def _state_callback(self, msg: State):
-        """Update FCU connection state and heartbeat time."""
+        """Update FCU connection state and record last heartbeat time."""
         self.fcu_connected = msg.connected
         if msg.connected:
-            self.last_heartbeat = self.get_clock().now()
+            # Reset comms loss tracking on each received heartbeat
+            self.last_heartbeat  = self.get_clock().now()
+            self.comms_loss_start = None
 
-    def abort_callback(self, msg: Bool):
+    def _altitude_callback(self, msg: Float32):
-        """Handle manual abort command."""
+        """
+        Update current depth from relative altitude.
+        rel_alt is positive above home — negate for depth below surface.
+        """
+        self.current_depth_m = -msg.data if msg.data < 0.0 else 0.0
+
+    def _abort_callback(self, msg: Bool):
+        """Handle manual abort command from operator."""
         if msg.data:
-            self.get_logger().warn('Manual abort received')
+            self.flag_manual_abort = True
-            self.publish_failsafe(
+            self.get_logger().warn('Manual abort received from operator')
-                manual_abort=True,
-                action=FailsafeStatus.ACTION_SURFACE,
-                message='Manual abort commanded'
-            )
 
-    def evaluate_failsafe(self):
+    # ------------------------------------------------------------------
-        """Evaluate all failsafe conditions and publish status."""
+    # Main evaluation loop — rate adapts to assessment state
+    # ------------------------------------------------------------------
+
+    def _evaluate(self):
+        """
+        Main evaluation cycle. Called by timer.
+        1. Assess all sensor inputs -> GREEN/AMBER/RED
+        2. Adapt assessment rate to match state
+        3. Apply priority-ordered failsafe logic
+        4. Publish status
+        """
+        self._assess_conditions()
+        self._adapt_rate()
+        self._apply_failsafe_priority()
+        self._publish_status()
+
+    # ------------------------------------------------------------------
+    # Step 1: Continuous self-assessment -> GREEN / AMBER / RED
+    # ------------------------------------------------------------------
+
+    def _assess_conditions(self):
+        """
+        Evaluate all monitored parameters and derive assessment state.
+        GREEN: all nominal, 5+ parameters assessed.
+        AMBER: core navigation intact, <= 1 parameter marginal.
+        RED:   navigation sensor failure, >= 2 marginal, or any safety-critical lost.
+        """
         now = self.get_clock().now()
-        elapsed = (now - self.last_heartbeat).nanoseconds / 1e9
 
-        comms_loss = elapsed > self.comms_timeout
+        # --- Comms ---
-        low_battery = self.battery_percent < self.low_batt_thresh
+        elapsed_s = (now - self.last_heartbeat).nanoseconds / 1e9
+        self.flag_comms_loss = elapsed_s > self._comms_timeout_s
+        if self.flag_comms_loss and self.comms_loss_start is None:
+            self.comms_loss_start = now
 
-        if comms_loss:
+        # --- Battery ---
-            self.publish_failsafe(
+        pct = self.battery_percent
-                comms_loss=True,
+        self.flag_emergency_battery = pct < self._battery_emerg_pct
-                action=FailsafeStatus.ACTION_SURFACE,
+        self.flag_critical_battery  = pct < self._battery_critical_pct
-                message=f'Comms lost for {elapsed:.1f}s'
+        self.flag_low_battery       = pct < self._battery_return_pct
-            )
+
-        elif low_battery:
+        # --- Depth ---
-            self.publish_failsafe(
+        d = self.current_depth_m
-                low_battery=True,
+        self.flag_depth_exceeded = d > self._depth_safety_m
-                action=FailsafeStatus.ACTION_SURFACE,
+
-                message=f'Low battery: {self.battery_percent*100:.0f}%'
+        # --- Obstacle (placeholder — Phase 3+ when sonar is fitted) ---
+        # self.flag_obstacle = <sonar_node data>
+
+        # --- Derive assessment state ---
+        marginal_count = sum([
+            self.flag_comms_loss,
+            self.flag_low_battery,
+            self.flag_depth_exceeded,
+            self.flag_obstacle,
+            self.flag_thruster_anomaly,
+        ])
+
+        if self.flag_emergency_battery or self.flag_depth_exceeded or marginal_count >= 2:
+            self.assessment_state = AssessmentState.RED
+        elif marginal_count == 1:
+            self.assessment_state = AssessmentState.AMBER
+        else:
+            self.assessment_state = AssessmentState.GREEN
+
+    # ------------------------------------------------------------------
+    # Step 2: Adapt timer rate to assessment state
+    # ------------------------------------------------------------------
+
+    def _adapt_rate(self):
+        """
+        Change evaluation rate based on current assessment state.
+        Timer is recreated only when rate actually changes.
+        """
+        target_rate = {
+            AssessmentState.GREEN: RATE_GREEN,
+            AssessmentState.AMBER: RATE_AMBER,
+            AssessmentState.RED:   RATE_RED,
+        }[self.assessment_state]
+
+        if abs(target_rate - self._current_rate) > 1e-6:
+            self._eval_timer.cancel()
+            self._eval_timer    = self.create_timer(target_rate, self._evaluate)
+            self._current_rate  = target_rate
+            self.get_logger().info(
+                f'Assessment rate changed to {1.0/target_rate:.0f} Hz '
+                f'(state={self._assessment_state_name()})'
             )
 
-    def publish_failsafe(self, comms_loss=False, low_battery=False,
+    # ------------------------------------------------------------------
-                          depth_exceeded=False, obstacle_detected=False,
+    # Step 3: Priority-ordered failsafe logic
-                          manual_abort=False,
+    # ------------------------------------------------------------------
-                          action=FailsafeStatus.ACTION_NONE, message=''):
+
-        """Publish a failsafe status message."""
+    def _apply_failsafe_priority(self):
+        """
+        Apply failsafe conditions in strict priority order per design spec.
+        Higher priority conditions override lower priority ones.
+        """
+        now = self.get_clock().now()
+
+        # Priority 1: Manual emergency surface (hardcoded, no assessment)
+        # (Handled separately — no current ROS trigger for P1 emergency.
+        #  Manual abort at P6 covers operator intent. Reserved for future.)
+
+        # Priority 2: Critical / emergency battery
+        if self.flag_emergency_battery:
+            self._transition(FSMState.EMERGENCY_SURFACE,
+                             FailsafeStatus.ACTION_EMERGENCY_SURFACE,
+                             f'Emergency battery: {self.battery_percent*100:.0f}%')
+            return
+
+        if self.flag_critical_battery:
+            self._transition(FSMState.RETURN_TO_SAFE,
+                             FailsafeStatus.ACTION_RETURN_TO_SAFE,
+                             f'Critical battery: {self.battery_percent*100:.0f}%')
+            return
+
+        # Priority 3: Safety depth limit (300m)
+        if self.flag_depth_exceeded:
+            self._transition(FSMState.RETURN_TO_SAFE,
+                             FailsafeStatus.ACTION_RETURN_TO_SAFE,
+                             f'Safety depth exceeded: {self.current_depth_m:.1f}m')
+            return
+
+        # Priority 4: Obstacle in RED state
+        if self.flag_obstacle and self.assessment_state == AssessmentState.RED:
+            self._transition(FSMState.RETURN_TO_SAFE,
+                             FailsafeStatus.ACTION_RETURN_TO_SAFE,
+                             'Obstacle detected in RED state')
+            return
+
+        # Priority 5: Comms loss — conditional on assessment state
+        if self.flag_comms_loss:
+            self._handle_comms_loss(now)
+            return
+
+        # Priority 6: Manual abort — conditional on assessment state
+        if self.flag_manual_abort:
+            self._handle_manual_abort(now)
+            return
+
+        # Priority 7: Thruster anomaly — AMBER downgrade, informational
+        if self.flag_thruster_anomaly:
+            # Does not change FSM state, already handled in assessment
+            self.get_logger().warn('Thruster anomaly detected — AMBER state')
+            return
+
+        # Priority 8: Low battery warning — informational only
+        if self.battery_percent < self._battery_warning_pct:
+            self.get_logger().warn(
+                f'Battery warning: {self.battery_percent*100:.0f}% — '
+                'complete current task, no new panels'
+            )
+
+        # All clear — return to NORMAL if previously in HOLD_AND_RECOVER
+        if self.fsm_state == FSMState.HOLD_AND_RECOVER:
+            self.get_logger().info('Conditions cleared — returning to NORMAL')
+            self.fsm_state = FSMState.NORMAL
+            self.hold_recover_start = None
+
+    def _handle_comms_loss(self, now):
+        """
+        Comms loss response conditional on assessment state per design spec.
+        GREEN: hold 60s then RETURN_TO_SAFE.
+        AMBER: hold 30s then RETURN_TO_SAFE.
+        RED:   RETURN_TO_SAFE immediately.
+        """
+        if self.assessment_state == AssessmentState.RED:
+            self._transition(FSMState.RETURN_TO_SAFE,
+                             FailsafeStatus.ACTION_RETURN_TO_SAFE,
+                             'Comms loss in RED state — immediate return')
+            return
+
+        # Enter HOLD_AND_RECOVER if not already there
+        if self.fsm_state != FSMState.HOLD_AND_RECOVER:
+            self._transition(FSMState.HOLD_AND_RECOVER,
+                             FailsafeStatus.ACTION_HOVER,
+                             'Comms loss — holding, attempting reconnection')
+            self.hold_recover_start = now
+            return
+
+        # Check hold timeout
+        hold_limit = (
+            self._comms_hold_green_s
+            if self.assessment_state == AssessmentState.GREEN
+            else self._comms_hold_amber_s
+        )
+        hold_elapsed = (now - self.hold_recover_start).nanoseconds / 1e9
+
+        if hold_elapsed > hold_limit:
+            self._transition(FSMState.RETURN_TO_SAFE,
+                             FailsafeStatus.ACTION_RETURN_TO_SAFE,
+                             f'Comms lost for {hold_elapsed:.0f}s — returning to safe')
+
+    def _handle_manual_abort(self, now):
+        """
+        Manual abort response conditional on assessment state per design spec.
+        GREEN: hold position 120s awaiting operator instruction, then RETURN_TO_SAFE.
+        AMBER/RED: RETURN_TO_SAFE immediately.
+        """
+        if self.assessment_state != AssessmentState.GREEN:
+            self._transition(FSMState.RETURN_TO_SAFE,
+                             FailsafeStatus.ACTION_RETURN_TO_SAFE,
+                             f'Manual abort in {self._assessment_state_name()} state')
+            return
+
+        if self.fsm_state != FSMState.HOLD_AND_RECOVER:
+            self._transition(FSMState.HOLD_AND_RECOVER,
+                             FailsafeStatus.ACTION_HOVER,
+                             'Manual abort — holding, awaiting operator instruction')
+            self.abort_hold_start = now
+            return
+
+        if self.abort_hold_start is not None:
+            elapsed = (now - self.abort_hold_start).nanoseconds / 1e9
+            if elapsed > self._abort_hold_green_s:
+                self._transition(FSMState.RETURN_TO_SAFE,
+                                 FailsafeStatus.ACTION_RETURN_TO_SAFE,
+                                 f'No operator instruction after {elapsed:.0f}s — returning to safe')
+
+    # ------------------------------------------------------------------
+    # State machine transition
+    # ------------------------------------------------------------------
+
+    def _transition(self, new_state: int, action: int, message: str):
+        """
+        Transition the FSM to a new state. Logs the transition.
+        Only logs if state actually changes to avoid log spam.
+        """
+        if self.fsm_state != new_state:
+            self.get_logger().warn(
+                f'FSM: {self._fsm_state_name(self.fsm_state)} -> '
+                f'{self._fsm_state_name(new_state)} | {message}'
+            )
+            self.fsm_state = new_state
+
+    # ------------------------------------------------------------------
+    # Step 4: Publish current status
+    # ------------------------------------------------------------------
+
+    def _publish_status(self):
+        """Publish the current failsafe status to /rov/failsafe."""
         msg = FailsafeStatus()
-        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.stamp     = self.get_clock().now().to_msg()
-        msg.comms_loss = comms_loss
+        msg.assessment_state = self.assessment_state
-        msg.low_battery = low_battery
+        msg.failsafe_state   = self.fsm_state
-        msg.depth_exceeded = depth_exceeded
+
-        msg.obstacle_detected = obstacle_detected
+        # Trigger flags
-        msg.manual_abort = manual_abort
+        msg.comms_loss        = self.flag_comms_loss
-        msg.action = action
+        msg.low_battery       = self.flag_low_battery
-        msg.message = message
+        msg.depth_exceeded    = self.flag_depth_exceeded
+        msg.obstacle_detected = self.flag_obstacle
+        msg.manual_abort      = self.flag_manual_abort
+        msg.thruster_anomaly  = self.flag_thruster_anomaly
+
+        # Telemetry
+        msg.battery_percent = float(self.battery_percent)
+
+        # Derive action from FSM state
+        msg.action = {
+            FSMState.NORMAL:            FailsafeStatus.ACTION_NONE,
+            FSMState.ASSESSING:         FailsafeStatus.ACTION_NONE,
+            FSMState.HOLD_AND_RECOVER:  FailsafeStatus.ACTION_HOVER,
+            FSMState.RETURN_TO_SAFE:    FailsafeStatus.ACTION_RETURN_TO_SAFE,
+            FSMState.EMERGENCY_SURFACE: FailsafeStatus.ACTION_EMERGENCY_SURFACE,
+            FSMState.MISSION_COMPLETE:  FailsafeStatus.ACTION_NONE,
+            FSMState.ABORTED:           FailsafeStatus.ACTION_NONE,
+        }.get(self.fsm_state, FailsafeStatus.ACTION_NONE)
+
+        msg.message = (
+            f'Assessment: {self._assessment_state_name()} | '
+            f'State: {self._fsm_state_name(self.fsm_state)} | '
+            f'Battery: {self.battery_percent*100:.0f}%'
+        )
+
         self.failsafe_pub.publish(msg)
 
+    # ------------------------------------------------------------------
+    # Helpers
+    # ------------------------------------------------------------------
+
+    def _assessment_state_name(self) -> str:
+        """Return human-readable assessment state name."""
+        return {
+            AssessmentState.GREEN: 'GREEN',
+            AssessmentState.AMBER: 'AMBER',
+            AssessmentState.RED:   'RED',
+        }.get(self.assessment_state, 'UNKNOWN')
+
+    def _fsm_state_name(self, state: int) -> str:
+        """Return human-readable FSM state name."""
+        return {
+            FSMState.NORMAL:            'NORMAL',
+            FSMState.ASSESSING:         'ASSESSING',
+            FSMState.HOLD_AND_RECOVER:  'HOLD_AND_RECOVER',
+            FSMState.RETURN_TO_SAFE:    'RETURN_TO_SAFE',
+            FSMState.EMERGENCY_SURFACE: 'EMERGENCY_SURFACE',
+            FSMState.MISSION_COMPLETE:  'MISSION_COMPLETE',
+            FSMState.ABORTED:           'ABORTED',
+        }.get(state, 'UNKNOWN')
+
+
+# ---------------------------------------------------------------------------
+# Entry point
+# ---------------------------------------------------------------------------
 
 def main(args=None):
+    """ROS2 node entry point."""
     rclpy.init(args=args)
     node = FailsafeMonitor()
-    rclpy.spin(node)
+    try:
-    node.destroy_node()
+        rclpy.spin(node)
-    rclpy.shutdown()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
 
 
 if __name__ == '__main__':

src/rov_interfaces/msg/FailsafeStatus.msg

@@ -1,12 +1,39 @@
 std_msgs/Header header
+
+# Assessment state (continuous self-assessment result)
+uint8 assessment_state
+uint8 ASSESSMENT_GREEN=0
+uint8 ASSESSMENT_AMBER=1
+uint8 ASSESSMENT_RED=2
+
+# Failsafe state machine state
+uint8 failsafe_state
+uint8 STATE_NORMAL=0
+uint8 STATE_ASSESSING=1
+uint8 STATE_HOLD_AND_RECOVER=2
+uint8 STATE_RETURN_TO_SAFE=3
+uint8 STATE_EMERGENCY_SURFACE=4
+uint8 STATE_MISSION_COMPLETE=5
+uint8 STATE_ABORTED=6
+
+# Active trigger flags
 bool comms_loss
 bool low_battery
 bool depth_exceeded
 bool obstacle_detected
 bool manual_abort
+bool thruster_anomaly
+
+# Commanded action
 uint8 action
 uint8 ACTION_NONE=0
 uint8 ACTION_HOVER=1
-uint8 ACTION_SURFACE=2
+uint8 ACTION_RETURN_TO_SAFE=2
-uint8 ACTION_EMERGENCY_SURFACE=3
+uint8 ACTION_SURFACE=3
+uint8 ACTION_EMERGENCY_SURFACE=4
+
+# Battery detail
+float32 battery_percent
+
+# Human-readable status
 string message

src/rov_mission/launch/mission.launch.py

@@ -1,30 +1,52 @@
-"""Mission executor launch file."""
+"""
+Mission executor launch file.
+Selects config based on env argument at launch time.
 
+Usage:
+  ros2 launch rov_mission mission.launch.py          # dev config (default)
+  ros2 launch rov_mission mission.launch.py env:=field  # field config
+"""
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 import os
 
 
-def generate_launch_description():
+def _launch_with_config(context, *args, **kwargs):
+    """Resolve env argument and return node with correct config file."""
     pkg_dir = get_package_share_directory('rov_mission')
 
-    env_arg = DeclareLaunchArgument(
+    # Evaluate env argument at launch time
-        'env', default_value='dev',
+    env = LaunchConfiguration('env').perform(context)
-        description='Deployment environment: dev, field'
-    )
 
-    env = LaunchConfiguration('env')
+    config_file = os.path.join(pkg_dir, 'config', f'{env}.yaml')
 
-    return LaunchDescription([
+    if not os.path.exists(config_file):
-        env_arg,
+        raise FileNotFoundError(
+            f'Config file not found: {config_file}. '
+            f'Valid environments: dev, field'
+        )
+
+    return [
         Node(
             package='rov_mission',
             executable='mission_executor',
             name='mission_executor',
             output='screen',
-            # Config selected by env argument at launch time
+            parameters=[config_file],
+        )
+    ]
+
+
+def generate_launch_description():
+    """Launch mission executor with environment-specific config."""
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'env',
+            default_value='dev',
+            description='Deployment environment: dev, field'
         ),
+        OpaqueFunction(function=_launch_with_config),
     ])

src/rov_mission/rov_mission/mission_executor.py

@@ -1,118 +1,390 @@
 #!/usr/bin/env python3
 """
-Mission executor node.
+Mission Executor Node — Argonaut 3
-Manages inspection mission state machine.
+====================================
-Sequences waypoints, triggers image capture, handles replanning.
+Manages inspection mission state machine per ROV_Failsafe_Design_v2.0.
 
-States: IDLE → RUNNING → (PAUSED | COMPLETE | ABORTED)
+Sequences inspection waypoints, triggers image capture, maintains the
+breadcrumb position buffer used by the failsafe return-to-safe path,
+and responds correctly to each failsafe action level.
+
+States: IDLE -> RUNNING -> PAUSED | COMPLETE | ABORTED
+
+Failsafe integration:
+  ACTION_HOVER            -> pause mission, hold position
+  ACTION_RETURN_TO_SAFE   -> abort mission, return via breadcrumb path
+  ACTION_EMERGENCY_SURFACE -> abort mission, emergency surface immediately
+
+Breadcrumb system:
+  Position logged every 2s from mission start.
+  Circular buffer of 1800 entries (1 hour of operation).
+  Used by return-to-safe to reverse the entry path safely.
 
 Topics subscribed:
-  /rov/state         (nav_msgs/Odometry)              — current position
+  /rov/state              (nav_msgs/Odometry)              — current position
-  /rov/failsafe      (rov_interfaces/FailsafeStatus)  — safety override
+  /rov/failsafe           (rov_interfaces/FailsafeStatus)  — safety override
 
 Topics published:
-  /rov/cmd_vel       (geometry_msgs/Twist)            — velocity setpoints to controller
+  /rov/cmd_vel            (geometry_msgs/Twist)            — velocity setpoints
-  /rov/mission/status (rov_interfaces/MissionStatus)  — current mission state
+  /rov/mission/status     (rov_interfaces/MissionStatus)   — mission state
+  /rov/mission/waypoint   (rov_interfaces/InspectionWaypoint) — current target
 
 Services provided:
-  /rov/mission/command  (rov_interfaces/MissionCommand) — start/pause/abort/resume
+  /rov/mission/command    (rov_interfaces/MissionCommand)  — start/pause/abort/resume
 """
 
+import math
+import yaml
+import collections
+from dataclasses import dataclass, field
+from typing import List, Optional
+
 import rclpy
 from rclpy.node import Node
-from geometry_msgs.msg import Twist
+from geometry_msgs.msg import Twist, Point
 from nav_msgs.msg import Odometry
+from std_msgs.msg import Header
 from rov_interfaces.msg import MissionStatus, FailsafeStatus, InspectionWaypoint
 from rov_interfaces.srv import MissionCommand
 
 
-class MissionExecutor(Node):
+# ---------------------------------------------------------------------------
-    """Executes inspection missions from a waypoint list."""
+# Breadcrumb entry
+# ---------------------------------------------------------------------------
 
-    # Mission states
+@dataclass
-    STATE_IDLE = 'IDLE'
+class Breadcrumb:
-    STATE_RUNNING = 'RUNNING'
+    """Single position record for the return-to-safe path."""
-    STATE_PAUSED = 'PAUSED'
+    timestamp_s: float   # ROS time in seconds
+    x: float             # metres
+    y: float             # metres
+    z: float             # metres (negative = depth)
+    heading_deg: float   # degrees
+    confidence: float    # 0.0–1.0 (placeholder until full state estimation)
+
+
+# ---------------------------------------------------------------------------
+# Breadcrumb buffer
+# ---------------------------------------------------------------------------
+
+class BreadcrumbBuffer:
+    """
+    Circular buffer of position records logged during mission.
+    1800 entries at 2s interval = 1 hour of operation.
+    Older entries are discarded as new ones are added.
+    """
+
+    CAPACITY = 1800          # entries
+    LOG_INTERVAL_S = 2.0     # seconds between entries
+    MIN_CONFIDENCE = 0.3     # entries below this are flagged during reversal
+
+    def __init__(self):
+        self._buffer: collections.deque = collections.deque(maxlen=self.CAPACITY)
+        self._last_log_time: float = 0.0
+
+    def update(self, now_s: float, position: Point, heading_deg: float,
+               confidence: float = 1.0):
+        """Log a breadcrumb if the log interval has elapsed."""
+        if now_s - self._last_log_time >= self.LOG_INTERVAL_S:
+            self._buffer.append(Breadcrumb(
+                timestamp_s=now_s,
+                x=position.x,
+                y=position.y,
+                z=position.z,
+                heading_deg=heading_deg,
+                confidence=confidence,
+            ))
+            self._last_log_time = now_s
+
+    def get_return_path(self) -> List[Breadcrumb]:
+        """
+        Return the breadcrumb buffer in reverse order for path reversal.
+        Entries below MIN_CONFIDENCE are filtered — skipped in favour of
+        the next reliable entry to reduce navigation uncertainty.
+        """
+        reliable = [b for b in self._buffer if b.confidence >= self.MIN_CONFIDENCE]
+        return list(reversed(reliable))
+
+    def clear(self):
+        """Clear all entries — called at mission start."""
+        self._buffer.clear()
+        self._last_log_time = 0.0
+
+    @property
+    def entry_count(self) -> int:
+        """Number of entries currently in buffer."""
+        return len(self._buffer)
+
+
+# ---------------------------------------------------------------------------
+# Mission executor node
+# ---------------------------------------------------------------------------
+
+class MissionExecutor(Node):
+    """
+    Executes inspection missions from a waypoint sequence.
+    Integrates with the failsafe monitor and maintains breadcrumb buffer.
+    """
+
+    # Internal mission states
+    STATE_IDLE     = 'IDLE'
+    STATE_RUNNING  = 'RUNNING'
+    STATE_PAUSED   = 'PAUSED'
     STATE_COMPLETE = 'COMPLETE'
-    STATE_ABORTED = 'ABORTED'
+    STATE_ABORTED  = 'ABORTED'
 
     def __init__(self):
         super().__init__('mission_executor')
 
-        self.state = self.STATE_IDLE
+        # ------------------------------------------------------------------
-        self.waypoints = []          # List of InspectionWaypoint
+        # Parameters (from dev.yaml / field.yaml)
-        self.current_wp_index = 0
+        # ------------------------------------------------------------------
-        self.mission_id = ''
-        self.current_position = None
-        self.failsafe_active = False
 
-        # --- Subscribers ---
+        self.declare_parameter('waypoint_arrival_radius_m', 0.5)
-        self.state_sub = self.create_subscription(
+        self.declare_parameter('waypoint_timeout_s', 60.0)
-            Odometry, '/rov/state', self.state_callback, 10)
+        self.declare_parameter('image_capture_delay_s', 1.0)
-        self.failsafe_sub = self.create_subscription(
-            FailsafeStatus, '/rov/failsafe', self.failsafe_callback, 10)
 
-        # --- Publishers ---
+        self._arrival_radius  = self.get_parameter('waypoint_arrival_radius_m').value
-        self.cmd_pub = self.create_publisher(Twist, '/rov/cmd_vel', 10)
+        self._wp_timeout_s    = self.get_parameter('waypoint_timeout_s').value
-        self.status_pub = self.create_publisher(MissionStatus, '/rov/mission/status', 10)
+        self._capture_delay_s = self.get_parameter('image_capture_delay_s').value
 
-        # --- Services ---
+        # ------------------------------------------------------------------
-        self.cmd_srv = self.create_service(
+        # Mission state
-            MissionCommand, '/rov/mission/command', self.command_callback)
+        # ------------------------------------------------------------------
 
-        # --- Timer: mission loop at 10Hz ---
+        self.state              = self.STATE_IDLE
-        self.timer = self.create_timer(0.1, self.mission_loop)
+        self.mission_id         = ''
+        self.waypoints: List[InspectionWaypoint] = []
+        self.current_wp_index   = 0
 
-        self.get_logger().info('MissionExecutor node started')
+        # Entry point — set when mission starts, used for safe zone reference
+        self.entry_point: Optional[Point] = None
 
-    def state_callback(self, msg: Odometry):
+        # Operation mode — affects return-to-safe path choice
-        """Update current position."""
+        self.operation_mode = 'tethered'   # 'tethered' or 'untethered'
+
+        # ------------------------------------------------------------------
+        # Sensor state
+        # ------------------------------------------------------------------
+
+        self.current_position: Optional[Point]  = None
+        self.current_heading_deg: float          = 0.0
+
+        # ------------------------------------------------------------------
+        # Failsafe state
+        # ------------------------------------------------------------------
+
+        self.last_failsafe_action       = FailsafeStatus.ACTION_NONE
+        self.last_assessment_state      = FailsafeStatus.ASSESSMENT_GREEN
+
+        # ------------------------------------------------------------------
+        # Breadcrumb buffer
+        # ------------------------------------------------------------------
+
+        self.breadcrumbs = BreadcrumbBuffer()
+
+        # ------------------------------------------------------------------
+        # Waypoint timing
+        # ------------------------------------------------------------------
+
+        self.wp_start_time: Optional[float]    = None   # When current wp navigation began
+        self.capture_start_time: Optional[float] = None  # When image capture loiter began
+        self.capturing_image: bool              = False
+
+        # ------------------------------------------------------------------
+        # Subscribers
+        # ------------------------------------------------------------------
+
+        self.create_subscription(
+            Odometry, '/rov/state',
+            self._state_callback, 10)
+
+        self.create_subscription(
+            FailsafeStatus, '/rov/failsafe',
+            self._failsafe_callback, 10)
+
+        # ------------------------------------------------------------------
+        # Publishers
+        # ------------------------------------------------------------------
+
+        self.cmd_pub = self.create_publisher(
+            Twist, '/rov/cmd_vel', 10)
+
+        self.status_pub = self.create_publisher(
+            MissionStatus, '/rov/mission/status', 10)
+
+        self.waypoint_pub = self.create_publisher(
+            InspectionWaypoint, '/rov/mission/waypoint', 10)
+
+        # ------------------------------------------------------------------
+        # Service
+        # ------------------------------------------------------------------
+
+        self.create_service(
+            MissionCommand, '/rov/mission/command',
+            self._command_callback)
+
+        # ------------------------------------------------------------------
+        # Timers
+        # ------------------------------------------------------------------
+
+        # Mission loop at 10 Hz
+        self.create_timer(0.1, self._mission_loop)
+
+        # Status publisher at 2 Hz
+        self.create_timer(0.5, self._publish_status)
+
+        self.get_logger().info('MissionExecutor started')
+
+    # ------------------------------------------------------------------
+    # Subscriber callbacks
+    # ------------------------------------------------------------------
+
+    def _state_callback(self, msg: Odometry):
+        """Update current position and heading from state estimator."""
         self.current_position = msg.pose.pose.position
 
-    def failsafe_callback(self, msg: FailsafeStatus):
+        # Extract heading from quaternion (yaw only — simplified)
-        """Handle failsafe — abort mission if active."""
+        q = msg.pose.pose.orientation
-        was_active = self.failsafe_active
+        siny_cosp = 2.0 * (q.w * q.z + q.x * q.y)
-        self.failsafe_active = (msg.action != FailsafeStatus.ACTION_NONE)
+        cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z)
-        if self.failsafe_active and not was_active:
+        self.current_heading_deg = math.degrees(math.atan2(siny_cosp, cosy_cosp))
-            self.get_logger().warn('Failsafe triggered — aborting mission')
-            self.state = self.STATE_ABORTED
 
-    def command_callback(self, request, response):
+        # Log breadcrumb if mission is active
-        """Handle mission command service calls."""
+        if self.state == self.STATE_RUNNING and self.current_position is not None:
+            now_s = self.get_clock().now().nanoseconds / 1e9
+            self.breadcrumbs.update(
+                now_s,
+                self.current_position,
+                self.current_heading_deg,
+            )
+
+    def _failsafe_callback(self, msg: FailsafeStatus):
+        """
+        Respond to failsafe actions per design spec priority.
+        Different actions require different mission responses.
+        """
+        action           = msg.action
+        assessment_state = msg.assessment_state
+
+        # Store for use in mission loop
+        self.last_failsafe_action  = action
+        self.last_assessment_state = assessment_state
+
+        # --- Emergency surface: abort immediately, no controlled return ---
+        if action == FailsafeStatus.ACTION_EMERGENCY_SURFACE:
+            if self.state not in (self.STATE_ABORTED, self.STATE_COMPLETE):
+                self.get_logger().error(
+                    'EMERGENCY SURFACE commanded — aborting mission immediately')
+                self._abort_mission('Emergency surface — failsafe')
+            return
+
+        # --- Return to safe: abort mission, initiate breadcrumb reversal ---
+        if action == FailsafeStatus.ACTION_RETURN_TO_SAFE:
+            if self.state not in (self.STATE_ABORTED, self.STATE_COMPLETE):
+                self.get_logger().warn(
+                    f'RETURN TO SAFE commanded — aborting mission '
+                    f'(breadcrumbs: {self.breadcrumbs.entry_count})')
+                self._abort_mission('Return to safe — failsafe')
+                # Breadcrumb path handed off to motion controller here
+                # (Phase 3+ — motion controller implements path reversal)
+            return
+
+        # --- Hover: pause mission, hold position ---
+        if action == FailsafeStatus.ACTION_HOVER:
+            if self.state == self.STATE_RUNNING:
+                self.get_logger().warn('HOVER commanded — pausing mission')
+                self.state = self.STATE_PAUSED
+                self._stop_motion()
+            return
+
+        # --- No action: if paused by failsafe and now clear, resume ---
+        if action == FailsafeStatus.ACTION_NONE:
+            if (self.state == self.STATE_PAUSED and
+                    assessment_state == FailsafeStatus.ASSESSMENT_GREEN):
+                self.get_logger().info(
+                    'Failsafe cleared (GREEN) — resuming mission')
+                self.state = self.STATE_RUNNING
+
+    # ------------------------------------------------------------------
+    # Service callback — mission commands
+    # ------------------------------------------------------------------
+
+    def _command_callback(self, request, response):
+        """
+        Handle mission commands: START, PAUSE, RESUME, ABORT, LOAD.
+        LOAD accepts a YAML waypoint file path via parameters[0].
+        """
         cmd = request.command.upper()
 
         if cmd == 'START':
-            if self.state == self.STATE_IDLE:
+            if self.state != self.STATE_IDLE:
-                self.mission_id = request.mission_id
-                self.current_wp_index = 0
-                self.state = self.STATE_RUNNING
-                response.success = True
-                response.message = f'Mission {self.mission_id} started'
-            else:
                 response.success = False
-                response.message = f'Cannot start — current state: {self.state}'
+                response.message = f'Cannot START — current state: {self.state}'
+                return response
+
+            if not self.waypoints:
+                response.success = False
+                response.message = 'Cannot START — no waypoints loaded'
+                return response
+
+            # Record entry point at mission start
+            self.entry_point = (
+                self.current_position if self.current_position is not None
+                else Point()
+            )
+
+            # Set operation mode from parameters if provided
+            if request.parameters:
+                self.operation_mode = request.parameters[0]
+
+            self.breadcrumbs.clear()
+            self.current_wp_index = 0
+            self.mission_id       = request.mission_id
+            self.state            = self.STATE_RUNNING
+            self.wp_start_time    = self.get_clock().now().nanoseconds / 1e9
+
+            self.get_logger().info(
+                f'Mission {self.mission_id} started — '
+                f'{len(self.waypoints)} waypoints, '
+                f'mode={self.operation_mode}'
+            )
+            response.success = True
+            response.message = f'Mission {self.mission_id} started'
+
+        elif cmd == 'LOAD':
+            # Load waypoints from YAML file path in parameters[0]
+            if not request.parameters:
+                response.success = False
+                response.message = 'LOAD requires parameters[0] = YAML file path'
+                return response
+
+            loaded, message = self._load_waypoints(request.parameters[0])
+            response.success = loaded
+            response.message = message
 
         elif cmd == 'PAUSE':
-            if self.state == self.STATE_RUNNING:
+            if self.state != self.STATE_RUNNING:
-                self.state = self.STATE_PAUSED
-                response.success = True
-                response.message = 'Mission paused'
-            else:
                 response.success = False
-                response.message = f'Cannot pause — current state: {self.state}'
+                response.message = f'Cannot PAUSE — current state: {self.state}'
+                return response
+            self.state = self.STATE_PAUSED
+            self._stop_motion()
+            response.success = True
+            response.message = 'Mission paused'
 
         elif cmd == 'RESUME':
-            if self.state == self.STATE_PAUSED:
+            if self.state != self.STATE_PAUSED:
-                self.state = self.STATE_RUNNING
-                response.success = True
-                response.message = 'Mission resumed'
-            else:
                 response.success = False
-                response.message = f'Cannot resume — current state: {self.state}'
+                response.message = f'Cannot RESUME — current state: {self.state}'
+                return response
+            self.state = self.STATE_RUNNING
+            self.wp_start_time = self.get_clock().now().nanoseconds / 1e9
+            response.success = True
+            response.message = 'Mission resumed'
 
         elif cmd == 'ABORT':
-            self.state = self.STATE_ABORTED
+            self._abort_mission('Operator abort command')
-            self.stop_motion()
             response.success = True
             response.message = 'Mission aborted'
 
@@ -122,10 +394,12 @@ class MissionExecutor(Node):
 
         return response
 
-    def mission_loop(self):
+    # ------------------------------------------------------------------
-        """Main mission execution loop — called at 10Hz."""
+    # Mission execution loop — 10 Hz
-        self.publish_status()
+    # ------------------------------------------------------------------
 
+    def _mission_loop(self):
+        """Main mission execution loop."""
         if self.state != self.STATE_RUNNING:
             return
 
@@ -137,46 +411,229 @@ class MissionExecutor(Node):
         if self.current_wp_index >= len(self.waypoints):
             self.get_logger().info('All waypoints reached — mission complete')
             self.state = self.STATE_COMPLETE
+            self._stop_motion()
             return
 
-        # TODO: navigate to current waypoint
+        if self.current_position is None:
-        # TODO: check arrival condition
+            self.get_logger().warn('No position estimate — waiting')
-        # TODO: trigger image capture if required
+            return
-        # TODO: advance to next waypoint on arrival
 
-    def stop_motion(self):
+        current_wp = self.waypoints[self.current_wp_index]
-        """Publish zero velocity to stop the ROV."""
+        now_s      = self.get_clock().now().nanoseconds / 1e9
-        self.cmd_pub.publish(Twist())  # All zeros = stop
 
-    def publish_status(self):
+        # --- Publish current waypoint target ---
+        self.waypoint_pub.publish(current_wp)
+
+        # --- Check waypoint timeout ---
+        if (self.wp_start_time is not None and
+                now_s - self.wp_start_time > self._wp_timeout_s):
+            self.get_logger().warn(
+                f'Waypoint {current_wp.waypoint_id} timed out after '
+                f'{self._wp_timeout_s}s — advancing to next'
+            )
+            self._advance_waypoint(now_s)
+            return
+
+        # --- Check arrival at waypoint ---
+        distance = self._distance_to(current_wp.position)
+
+        if distance > self._arrival_radius:
+            # Not yet arrived — navigate toward waypoint
+            self._navigate_toward(current_wp)
+            return
+
+        # --- Arrived at waypoint ---
+        self._stop_motion()
+
+        if current_wp.capture_image and not self.capturing_image:
+            # Start image capture loiter
+            self.capturing_image    = True
+            self.capture_start_time = now_s
+            self.get_logger().info(
+                f'Arrived at {current_wp.waypoint_id} — '
+                f'capturing image (loiter {current_wp.loiter_time_s}s)'
+            )
+            return
+
+        if self.capturing_image:
+            # Wait for loiter time before advancing
+            elapsed_capture = now_s - self.capture_start_time
+            if elapsed_capture < current_wp.loiter_time_s + self._capture_delay_s:
+                return
+            self.capturing_image = False
+            self.get_logger().info(
+                f'Image capture complete at {current_wp.waypoint_id}')
+
+        # Advance to next waypoint
+        self._advance_waypoint(now_s)
+
+    # ------------------------------------------------------------------
+    # Navigation helpers
+    # ------------------------------------------------------------------
+
+    def _navigate_toward(self, waypoint: InspectionWaypoint):
+        """
+        Publish proportional velocity command toward the waypoint.
+        Simple P-controller — replaced by full motion planner in Phase 3+.
+        Max speed: 0.3 m/s in XY, 0.1 m/s in Z.
+        """
+        MAX_XY = 0.3   # m/s
+        MAX_Z  = 0.1   # m/s
+        KP     = 0.5   # proportional gain
+
+        dx = waypoint.position.x - self.current_position.x
+        dy = waypoint.position.y - self.current_position.y
+        dz = waypoint.position.z - self.current_position.z
+
+        # Clamp to max speeds
+        vx = max(-MAX_XY, min(MAX_XY, KP * dx))
+        vy = max(-MAX_XY, min(MAX_XY, KP * dy))
+        vz = max(-MAX_Z,  min(MAX_Z,  KP * dz))
+
+        cmd = Twist()
+        cmd.linear.x = vx
+        cmd.linear.y = vy
+        cmd.linear.z = vz
+        self.cmd_pub.publish(cmd)
+
+    def _stop_motion(self):
+        """Publish zero velocity to halt the ROV."""
+        self.cmd_pub.publish(Twist())  # All zeros
+
+    def _distance_to(self, target: Point) -> float:
+        """Euclidean distance from current position to target."""
+        if self.current_position is None:
+            return float('inf')
+        dx = target.x - self.current_position.x
+        dy = target.y - self.current_position.y
+        dz = target.z - self.current_position.z
+        return math.sqrt(dx*dx + dy*dy + dz*dz)
+
+    def _advance_waypoint(self, now_s: float):
+        """Move to the next waypoint in the sequence."""
+        self.current_wp_index += 1
+        self.wp_start_time     = now_s
+        self.capturing_image   = False
+
+        if self.current_wp_index < len(self.waypoints):
+            next_wp = self.waypoints[self.current_wp_index]
+            self.get_logger().info(
+                f'Advancing to waypoint {self.current_wp_index}: '
+                f'{next_wp.waypoint_id}'
+            )
+
+    def _abort_mission(self, reason: str):
+        """Abort the mission and stop motion."""
+        self.state = self.STATE_ABORTED
+        self._stop_motion()
+        self.get_logger().warn(f'Mission aborted: {reason}')
+
+    # ------------------------------------------------------------------
+    # Waypoint loading
+    # ------------------------------------------------------------------
+
+    def _load_waypoints(self, yaml_path: str):
+        """
+        Load InspectionWaypoint list from a YAML mission file.
+        Expected format:
+          waypoints:
+            - id: "WP1"
+              x: 1.0
+              y: 2.0
+              z: -5.0
+              heading_deg: 90.0
+              standoff_m: 0.5
+              loiter_time_s: 3.0
+              capture_image: true
+              panel_id: "P1"
+        """
+        try:
+            with open(yaml_path, 'r') as f:
+                data = yaml.safe_load(f)
+
+            if 'waypoints' not in data:
+                return False, f'No waypoints key in {yaml_path}'
+
+            self.waypoints = []
+            for entry in data['waypoints']:
+                wp = InspectionWaypoint()
+                wp.header.stamp    = self.get_clock().now().to_msg()
+                wp.waypoint_id     = str(entry.get('id', ''))
+                wp.position.x      = float(entry.get('x', 0.0))
+                wp.position.y      = float(entry.get('y', 0.0))
+                wp.position.z      = float(entry.get('z', 0.0))
+                wp.heading_deg     = float(entry.get('heading_deg', 0.0))
+                wp.standoff_m      = float(entry.get('standoff_m', 0.5))
+                wp.loiter_time_s   = float(entry.get('loiter_time_s', 2.0))
+                wp.capture_image   = bool(entry.get('capture_image', False))
+                wp.panel_id        = str(entry.get('panel_id', ''))
+                self.waypoints.append(wp)
+
+            msg = f'Loaded {len(self.waypoints)} waypoints from {yaml_path}'
+            self.get_logger().info(msg)
+            return True, msg
+
+        except FileNotFoundError:
+            return False, f'Mission file not found: {yaml_path}'
+        except Exception as e:
+            return False, f'Failed to load waypoints: {str(e)}'
+
+    # ------------------------------------------------------------------
+    # Status publishing — 2 Hz
+    # ------------------------------------------------------------------
+
+    def _publish_status(self):
         """Publish current mission status."""
-        msg = MissionStatus()
+        msg             = MissionStatus()
         msg.header.stamp = self.get_clock().now().to_msg()
-        msg.mission_id = self.mission_id
+        msg.mission_id  = self.mission_id
-        msg.current_task = f'Waypoint {self.current_wp_index}/{len(self.waypoints)}'
-        msg.message = self.state
-
-        if len(self.waypoints) > 0:
-            msg.progress_percent = (self.current_wp_index / len(self.waypoints)) * 100.0
 
         # Map state string to uint8
-        state_map = {
+        msg.state = {
-            self.STATE_IDLE: MissionStatus.STATE_IDLE,
+            self.STATE_IDLE:     MissionStatus.STATE_IDLE,
-            self.STATE_RUNNING: MissionStatus.STATE_RUNNING,
+            self.STATE_RUNNING:  MissionStatus.STATE_RUNNING,
-            self.STATE_PAUSED: MissionStatus.STATE_PAUSED,
+            self.STATE_PAUSED:   MissionStatus.STATE_PAUSED,
             self.STATE_COMPLETE: MissionStatus.STATE_COMPLETE,
-            self.STATE_ABORTED: MissionStatus.STATE_ABORTED,
+            self.STATE_ABORTED:  MissionStatus.STATE_ABORTED,
-        }
+        }.get(self.state, MissionStatus.STATE_IDLE)
-        msg.state = state_map.get(self.state, MissionStatus.STATE_IDLE)
+
+        # Progress
+        total = len(self.waypoints)
+        msg.progress_percent = (
+            (self.current_wp_index / total * 100.0) if total > 0 else 0.0
+        )
+
+        # Current task description
+        if self.state == self.STATE_RUNNING and total > 0:
+            wp_id = (self.waypoints[self.current_wp_index].waypoint_id
+                     if self.current_wp_index < total else 'complete')
+            msg.current_task = f'WP {self.current_wp_index + 1}/{total}: {wp_id}'
+        else:
+            msg.current_task = self.state
+
+        msg.message = (
+            f'{self.state} | '
+            f'WP {self.current_wp_index}/{total} | '
+            f'Breadcrumbs: {self.breadcrumbs.entry_count}'
+        )
         self.status_pub.publish(msg)
 
 
+# ---------------------------------------------------------------------------
+# Entry point
+# ---------------------------------------------------------------------------
+
 def main(args=None):
+    """ROS2 node entry point."""
     rclpy.init(args=args)
     node = MissionExecutor()
-    rclpy.spin(node)
+    try:
-    node.destroy_node()
+        rclpy.spin(node)
-    rclpy.shutdown()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
 
 
 if __name__ == '__main__':

src/rov_simulation/launch/dev_stack.launch.py

@@ -0,0 +1,70 @@
+"""
+Dev stack launch file — Argonaut 3 Simulation.
+DEV ONLY — NOT FOR DEPLOYMENT TO VEHICLE HARDWARE.
+
+Starts mock_publisher + failsafe_monitor + mission_executor together
+for integrated testing without physical hardware.
+
+Usage:
+  ros2 launch rov_simulation dev_stack.launch.py
+  ros2 launch rov_simulation dev_stack.launch.py scenario:=low_battery
+  ros2 launch rov_simulation dev_stack.launch.py scenario:=comms_loss
+
+Available scenarios: nominal, low_battery, comms_loss, depth_warning, all_clear
+"""
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    """Launch full dev stack with selected simulation scenario."""
+
+    control_pkg = get_package_share_directory('rov_control')
+    mission_pkg  = get_package_share_directory('rov_mission')
+
+    failsafe_config = os.path.join(control_pkg, 'config', 'failsafe.yaml')
+    mission_config  = os.path.join(mission_pkg, 'config', 'dev.yaml')
+
+    return LaunchDescription([
+
+        # Scenario argument — passed to mock_publisher
+        DeclareLaunchArgument(
+            'scenario',
+            default_value='nominal',
+            description=(
+                'Simulation scenario: '
+                'nominal | low_battery | comms_loss | depth_warning | all_clear'
+            )
+        ),
+
+        # Mock publisher — synthetic sensor data (dev only)
+        Node(
+            package='rov_simulation',
+            executable='mock_publisher',
+            name='mock_publisher',
+            output='screen',
+            parameters=[{'scenario': LaunchConfiguration('scenario')}],
+        ),
+
+        # Failsafe monitor — reads mock sensor data, publishes /rov/failsafe
+        Node(
+            package='rov_control',
+            executable='failsafe_monitor',
+            name='failsafe_monitor',
+            output='screen',
+            parameters=[failsafe_config],
+        ),
+
+        # Mission executor — reads failsafe state, publishes mission status
+        Node(
+            package='rov_mission',
+            executable='mission_executor',
+            name='mission_executor',
+            output='screen',
+            parameters=[mission_config],
+        ),
+    ])

src/rov_simulation/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>rov_simulation</name>
+  <version>0.1.0</version>
+  <description>Development-only simulation utilities — NOT for deployment to vehicle hardware.</description>
+  <maintainer email="grant@symbytech.com">grant</maintainer>
+  <license>Proprietary</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>mavros_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rov_interfaces</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/rov_simulation/rov_simulation/mock_publisher.py

@@ -0,0 +1,322 @@
+#!/usr/bin/env python3
+"""
+Mock Publisher Node — Argonaut 3 Simulation
+=============================================
+DEV ONLY — NOT FOR DEPLOYMENT TO VEHICLE HARDWARE.
+
+Publishes synthetic sensor data to simulate a connected ArduSub vehicle.
+Allows failsafe_monitor and mission_executor to be tested without
+physical hardware or a live MAVROS connection.
+
+Simulated topics (mimics MAVROS output):
+  /mavros/state          (mavros_msgs/State)       — FCU connection + heartbeat
+  /mavros/battery        (sensor_msgs/BatteryState) — battery level
+  /mavros/global_position/rel_alt (std_msgs/Float32) — depth (negative = below surface)
+  /rov/state             (nav_msgs/Odometry)        — vehicle position + orientation
+
+Scenarios (set via ROS parameter 'scenario'):
+  nominal       — healthy vehicle, normal battery, shallow depth
+  low_battery   — battery draining toward return threshold
+  comms_loss    — heartbeat stops after 10s to trigger comms failsafe
+  depth_warning — vehicle descends toward warning depth
+  all_clear     — all GREEN, used to verify normal operation
+
+Usage:
+  ros2 run rov_simulation mock_publisher --ros-args -p scenario:=low_battery
+"""
+
+import math
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32, Bool, Header
+from sensor_msgs.msg import BatteryState
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion
+from mavros_msgs.msg import State
+
+
+# ---------------------------------------------------------------------------
+# Available simulation scenarios
+# ---------------------------------------------------------------------------
+
+SCENARIOS = {
+    'nominal': {
+        'description': 'Healthy vehicle — all systems nominal',
+        'battery_start':  0.85,    # 85% — well above all thresholds
+        'battery_drain':  0.0,     # No drain
+        'depth_start_m':  5.0,     # Shallow
+        'depth_rate_mps': 0.0,     # Stationary
+        'comms_loss_at_s': None,   # No comms loss
+    },
+    'low_battery': {
+        'description': 'Battery draining — triggers warning then return threshold',
+        'battery_start':  0.30,    # Start above warning (25%)
+        'battery_drain':  0.001,   # Drain 0.1% per second
+        'depth_start_m':  10.0,
+        'depth_rate_mps': 0.0,
+        'comms_loss_at_s': None,
+    },
+    'comms_loss': {
+        'description': 'Heartbeat stops after 10s — triggers comms failsafe',
+        'battery_start':  0.80,
+        'battery_drain':  0.0,
+        'depth_start_m':  8.0,
+        'depth_rate_mps': 0.0,
+        'comms_loss_at_s': 10.0,   # Stop heartbeat at 10s
+    },
+    'depth_warning': {
+        'description': 'Vehicle descending toward warning depth limit',
+        'battery_start':  0.75,
+        'battery_drain':  0.0,
+        'depth_start_m':  180.0,   # Start near design depth (200m)
+        'depth_rate_mps': 0.5,     # Descend 0.5 m/s toward warning (250m)
+        'comms_loss_at_s': None,
+    },
+    'all_clear': {
+        'description': 'All GREEN — verify normal operation produces no failsafe',
+        'battery_start':  0.95,
+        'battery_drain':  0.0,
+        'depth_start_m':  3.0,
+        'depth_rate_mps': 0.0,
+        'comms_loss_at_s': None,
+    },
+}
+
+
+class MockPublisher(Node):
+    """
+    Publishes synthetic MAVROS-compatible sensor data for dev testing.
+    Simulates a connected ArduSub vehicle without physical hardware.
+    """
+
+    PUBLISH_RATE_HZ = 10   # All topics published at 10 Hz
+
+    def __init__(self):
+        super().__init__('mock_publisher')
+
+        # ------------------------------------------------------------------
+        # Parameters
+        # ------------------------------------------------------------------
+
+        self.declare_parameter('scenario', 'nominal')
+        scenario_name = self.get_parameter('scenario').value
+
+        if scenario_name not in SCENARIOS:
+            self.get_logger().error(
+                f'Unknown scenario: {scenario_name}. '
+                f'Valid: {list(SCENARIOS.keys())}'
+            )
+            scenario_name = 'nominal'
+
+        self._scenario = SCENARIOS[scenario_name]
+        self.get_logger().info(
+            f'MockPublisher starting — scenario: {scenario_name} '
+            f'({self._scenario["description"]})'
+        )
+
+        # ------------------------------------------------------------------
+        # Simulation state
+        # ------------------------------------------------------------------
+
+        self._elapsed_s       = 0.0
+        self._battery_pct     = self._scenario['battery_start']
+        self._depth_m         = self._scenario['depth_start_m']
+        self._comms_active    = True
+
+        # Simple position simulation — vehicle moves in XY circle for realism
+        self._pos_x           = 0.0
+        self._pos_y           = 0.0
+        self._orbit_radius_m  = 2.0    # metres
+        self._orbit_rate_rps  = 0.05   # radians per second
+
+        # ------------------------------------------------------------------
+        # Publishers (all matching MAVROS topic names and message types)
+        # ------------------------------------------------------------------
+
+        self._state_pub = self.create_publisher(
+            State, '/mavros/state', 10)
+
+        self._battery_pub = self.create_publisher(
+            BatteryState, '/mavros/battery', 10)
+
+        self._alt_pub = self.create_publisher(
+            Float32, '/mavros/global_position/rel_alt', 10)
+
+        self._odom_pub = self.create_publisher(
+            Odometry, '/rov/state', 10)
+
+        # ------------------------------------------------------------------
+        # Timer
+        # ------------------------------------------------------------------
+
+        self._dt = 1.0 / self.PUBLISH_RATE_HZ
+        self.create_timer(self._dt, self._publish_all)
+
+        self.get_logger().warn(
+            '*** DEV ONLY — mock_publisher is active. '
+            'Do not deploy to vehicle hardware. ***'
+        )
+
+    # ------------------------------------------------------------------
+    # Main publish cycle
+    # ------------------------------------------------------------------
+
+    def _publish_all(self):
+        """Advance simulation state and publish all topics."""
+        self._advance_simulation()
+        self._publish_state()
+        self._publish_battery()
+        self._publish_altitude()
+        self._publish_odometry()
+
+    # ------------------------------------------------------------------
+    # Simulation state advancement
+    # ------------------------------------------------------------------
+
+    def _advance_simulation(self):
+        """Advance all simulated quantities by one timestep."""
+        self._elapsed_s += self._dt
+
+        # Battery drain
+        drain = self._scenario['battery_drain'] * self._dt
+        self._battery_pct = max(0.0, self._battery_pct - drain)
+
+        # Depth change
+        self._depth_m += self._scenario['depth_rate_mps'] * self._dt
+
+        # Position orbit (simple circle for realistic /rov/state output)
+        angle = self._orbit_rate_rps * self._elapsed_s
+        self._pos_x = self._orbit_radius_m * math.cos(angle)
+        self._pos_y = self._orbit_radius_m * math.sin(angle)
+
+        # Comms loss scenario — stop publishing heartbeat after threshold
+        loss_at = self._scenario['comms_loss_at_s']
+        if loss_at is not None and self._elapsed_s >= loss_at:
+            if self._comms_active:
+                self.get_logger().warn(
+                    f'[{self._elapsed_s:.1f}s] Simulating comms loss — '
+                    'stopping FCU heartbeat'
+                )
+                self._comms_active = False
+
+        # Log key threshold crossings once
+        self._log_threshold_crossings()
+
+    def _log_threshold_crossings(self):
+        """Log once when battery crosses each threshold."""
+        pct = self._battery_pct
+        thresholds = [
+            (0.25, 'WARNING (25%)'),
+            (0.20, 'RETURN threshold (20%)'),
+            (0.12, 'CRITICAL (12%)'),
+            (0.08, 'EMERGENCY (8%)'),
+        ]
+        for threshold, label in thresholds:
+            attr = f'_logged_battery_{int(threshold*100)}'
+            if pct < threshold and not getattr(self, attr, False):
+                self.get_logger().warn(
+                    f'[{self._elapsed_s:.1f}s] Battery crossed {label}: '
+                    f'{pct*100:.1f}%'
+                )
+                setattr(self, attr, True)
+
+    # ------------------------------------------------------------------
+    # Topic publishers
+    # ------------------------------------------------------------------
+
+    def _publish_state(self):
+        """
+        Publish FCU connection state (mavros_msgs/State).
+        Mimics the MAVROS /mavros/state topic.
+        Stops publishing when comms_loss scenario activates.
+        """
+        if not self._comms_active:
+            # Do not publish — simulates lost heartbeat
+            return
+
+        msg              = State()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.connected    = True
+        msg.armed        = False   # Unarmed for dev testing
+        msg.guided       = True
+        msg.mode         = 'ALT_HOLD'
+        msg.system_status = 3      # MAV_STATE_STANDBY
+        self._state_pub.publish(msg)
+
+    def _publish_battery(self):
+        """
+        Publish battery state (sensor_msgs/BatteryState).
+        Mimics the MAVROS /mavros/battery topic.
+        percentage field: 0.0–1.0.
+        """
+        msg                  = BatteryState()
+        msg.header.stamp     = self.get_clock().now().to_msg()
+        msg.percentage       = float(self._battery_pct)
+        msg.voltage          = 14.8 * self._battery_pct + 12.0   # Approximate LiPo curve
+        msg.current          = 5.0    # Amps — nominal draw
+        msg.charge           = float('nan')
+        msg.capacity         = float('nan')
+        msg.design_capacity  = float('nan')
+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
+        self._battery_pub.publish(msg)
+
+    def _publish_altitude(self):
+        """
+        Publish relative altitude (std_msgs/Float32).
+        Negative value = depth below surface, matching MAVROS convention.
+        """
+        msg       = Float32()
+        msg.data  = -abs(self._depth_m)   # Always negative (depth)
+        self._alt_pub.publish(msg)
+
+    def _publish_odometry(self):
+        """
+        Publish vehicle state (nav_msgs/Odometry).
+        Provides position for mission_executor arrival detection and
+        breadcrumb logging.
+        """
+        msg                              = Odometry()
+        msg.header.stamp                 = self.get_clock().now().to_msg()
+        msg.header.frame_id              = 'map'
+        msg.child_frame_id               = 'base_link'
+
+        # Position — orbit + depth
+        msg.pose.pose.position.x         = self._pos_x
+        msg.pose.pose.position.y         = self._pos_y
+        msg.pose.pose.position.z         = -abs(self._depth_m)
+
+        # Orientation — identity quaternion (level vehicle)
+        msg.pose.pose.orientation.w      = 1.0
+        msg.pose.pose.orientation.x      = 0.0
+        msg.pose.pose.orientation.y      = 0.0
+        msg.pose.pose.orientation.z      = 0.0
+
+        # Velocity — tangential to orbit
+        angle     = self._orbit_rate_rps * self._elapsed_s
+        speed     = self._orbit_radius_m * self._orbit_rate_rps
+        msg.twist.twist.linear.x         = -speed * math.sin(angle)
+        msg.twist.twist.linear.y         =  speed * math.cos(angle)
+        msg.twist.twist.linear.z         = 0.0
+
+        self._odom_pub.publish(msg)
+
+
+# ---------------------------------------------------------------------------
+# Entry point
+# ---------------------------------------------------------------------------
+
+def main(args=None):
+    """ROS2 node entry point."""
+    rclpy.init(args=args)
+    node = MockPublisher()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/rov_simulation/setup.py

@@ -0,0 +1,29 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'rov_simulation'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'),
+            glob('launch/*.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='grant',
+    maintainer_email='grant@symbytech.com',
+    description='Development-only simulation utilities — NOT for deployment',
+    license='Proprietary',
+    entry_points={
+        'console_scripts': [
+            'mock_publisher = rov_simulation.mock_publisher:main',
+        ],
+    },
+)