CLAUDE.md

@@ -365,22 +365,6 @@ entries; correct forward with a new dated entry if something needs revising.
   lake on :9001) launched but had no respawn, so a boot-time race left it permanently
   dead. Added respawn=True to its launch Node. W8 mode indicator built + validated live
   (render+data). W1/W8 confirmed GREEN/AUV once bridge up.
-- 2026-07-08 — FLAGGED (open): recording_manager.py still implements superseded DIR-9
-  (continuous-from-boot recording), NOT the governing DIR-9a (ARM-bounded black-box:
-  AUV ARM-start/DISARM-stop, ROV operator manual + arm reminder). Design decision
-  exists only in handover + CLAUDE.md; code never updated. foxglove_mcap.launch.py
-  comments also still say DIR-9. Also: argonaut-stack.sh passes record:=${RECORD} but
-  rov_full.launch.py declares no such arg, so RECORD=false is silently ignored and
-  bags record regardless. Both deferred to a dedicated DIR-9a recorder-rework session
-  — do NOT wire RECORD into the current DIR-9 model.
-- 2026-07-08 — Added respawn=True/respawn_delay=5.0 to failsafe_monitor,
-  motion_controller, ekf_filter_node, depth_node, mission_executor. Deliberately NOT
-  applied to: mavros_node (respawn could mask/worsen the chronic FCU-link instability
-  — belongs in that investigation), recording_manager (pending DIR-9a rework),
-  camera_node/feature_detector (perception not operational yet), foxglove_bridge
-  (viz-only). NOTE: failsafe_monitor respawn has a coverage gap during the 5s respawn
-  delay — no failsafe assessment in that window; flagged for future design
-  consideration.
 
 ---
 

src/rov_control/launch/control.launch.py

@@ -18,8 +18,6 @@ def generate_launch_description():
             name='failsafe_monitor',
             output='screen',
             parameters=[failsafe_config],
-            respawn=True,
-            respawn_delay=5.0,
         ),
         # Motion controller
         Node(
@@ -27,7 +25,5 @@ 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

@@ -36,8 +36,6 @@ 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

@@ -23,8 +23,6 @@ def generate_launch_description():
             name='ekf_filter_node',
             output='screen',
             parameters=[ekf_config],
-            respawn=True,
-            respawn_delay=5.0,
         ),
 
 
@@ -34,7 +32,5 @@ def generate_launch_description():
             executable='depth_node',
             name='depth_node',
             output='screen',
-            respawn=True,
-            respawn_delay=5.0,
         ),
     ])