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Merge pull request 'feat: WSS rosbridge proxy + auto-detect wss:// in tracker (Issue #681)' (#725) from sl-jetson/issue-681-wss-rosbridge into main

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sl-jetson 2026-04-20 19:14:32 -04:00
commit 47d0631d81
2 changed files with 69 additions and 2 deletions
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64
jetson/nginx/saul-tee.conf Normal file
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@ -0,0 +1,64 @@
# saul-tee.conf — nginx site for saul-t-mote.evthings.app reverse proxy
#
# Replaces: python3 -m http.server 8080 --directory /home/seb
# Router (ASUS Merlin / OpenResty) terminates TLS on :443 and proxies to Orin:8080
#
# Deploy:
# sudo cp saul-tee.conf /etc/nginx/sites-available/saul-tee
# sudo ln -sf /etc/nginx/sites-available/saul-tee /etc/nginx/sites-enabled/saul-tee
# sudo systemctl reload nginx
#
# ROUTER REQUIREMENT for WSS to work:
# The ASUS Merlin router's nginx/OpenResty must proxy /rosbridge with
# WebSocket headers. Add to /jffs/configs/nginx.conf.add:
#
# map $http_upgrade $connection_upgrade {
# default upgrade;
# '' close;
# }
#
# And in the server block that proxies to 192.168.86.158:8080, add:
#
# location /rosbridge {
# proxy_pass http://192.168.86.158:8080/rosbridge;
# proxy_http_version 1.1;
# proxy_set_header Upgrade $http_upgrade;
# proxy_set_header Connection $connection_upgrade;
# proxy_read_timeout 86400;
# }
# Infer WebSocket upgrade from Connection header.
# Handles the case where an upstream proxy (e.g. ASUS Merlin OpenResty)
# passes Connection: upgrade but strips the Upgrade: websocket header.
map $http_connection $ws_upgrade {
"upgrade" "websocket";
default "";
}
server {
listen 8080 default_server;
listen [::]:8080 default_server;
root /home/seb;
index index.html;
server_name _;
# Static files — replaces python3 -m http.server 8080 --directory /home/seb
location / {
try_files $uri $uri/ =404;
autoindex on;
}
# rosbridge WebSocket reverse proxy
# wss://saul-t-mote.evthings.app/rosbridge --> ws://127.0.0.1:9090
location /rosbridge {
proxy_pass http://127.0.0.1:9090/;
proxy_http_version 1.1;
proxy_set_header Upgrade $ws_upgrade;
proxy_set_header Connection "upgrade";
proxy_set_header Host $host;
proxy_set_header X-Real-IP $remote_addr;
proxy_read_timeout 86400;
proxy_send_timeout 86400;
}
}

7
ui/saul-tee-tracker.html
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@ -227,7 +227,7 @@ body {
<div class="logo">⚡ SAUL-TEE TRACKER</div>
<div id="conn-bar">
<div id="ros-dot" title="ROS Bridge"></div>
<input id="ws-input" type="text" value="ws://100.64.0.2:9090" placeholder="ws://host:port" />
<input id="ws-input" type="text" value="" placeholder="ws://host:port" />
<button class="hbtn" id="btn-connect">CONNECT</button>
<span id="conn-label">Not connected</span>
</div>
@ -732,7 +732,10 @@ map.on('dragstart', () => {
// ── Init ──────────────────────────────────────────────────────────────────────
(function init() {
const saved = localStorage.getItem('saul_tee_ws_url') || 'ws://100.64.0.2:9090';
const defaultUrl = location.protocol === 'https:'
? 'wss://saul-t-mote.evthings.app/rosbridge'
: 'ws://100.64.0.2:9090';
const saved = localStorage.getItem('saul_tee_ws_url') || defaultUrl;
$('ws-input').value = saved;
drawCompass(null);
connectRos(saved);