系统状态监测器

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功能描述：订阅系统各个设备的数据节点，评估判断数据以及数据状态是否正常。

Basic Information

Installation method	Supported platform[s]
Source	Jetpack 6.0 , ros-humble

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Subscribed

ROS Topic	Interface	Frame ID	Description
imu_sensor_broadcaster/imu	sensor_msgs::msg::Imu	body	机身的IMU数据
perception/camera/image/right	sensor_msgs::msg::Image	right_img	发布右目相机图像
perception/devices/face_point	sensor_msgs::msg::PointCloud2	spad	前脸Tof传感器点云
perception/devices/neck_point	sensor_msgs::msg::PointCloud2	spad1	下方Tof传感器点云
system/battery/left	sensor_msgs::msg::BatteryState	left_battery_info	左侧电池信息
system/battery/right	sensor_msgs::msg::BatteryState	right_battery_info	右侧电池信息

Published

ROS Topic	Interface	Frame ID	Description
imu_sensor_broadcaster/imu	diagnostic_msgs::msg::DiagnosticArray	/	系统状态信息