diff --git a/ui/sultee-tracker.html b/ui/sultee-tracker.html
index 5a01686..0d24c74 100644
--- a/ui/sultee-tracker.html
+++ b/ui/sultee-tracker.html
@@ -8,6 +8,8 @@
 <!-- Leaflet.js -->
 <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
 <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
+<!-- ROSLIB for robot GPS via rosbridge -->
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 
 <style>
 *, *::before, *::after { box-sizing: border-box; margin: 0; padding: 0; }
@@ -18,11 +20,12 @@
   --bg2:    #0d0d20;
   --border: #0c2a3a;
   --cyan:   #06b6d4;
+  --blue:   #3b82f6;
+  --blue-hi:#60a5fa;
   --green:  #22c55e;
   --amber:  #f59e0b;
   --red:    #ef4444;
   --orange: #f97316;
-  --purple: #a78bfa;
   --text:   #9ca3af;
   --text-hi:#d1d5db;
   --dim:    #374151;
@@ -43,8 +46,8 @@ body {
 #header {
   display: flex;
   align-items: center;
-  gap: 12px;
-  padding: 6px 14px;
+  gap: 10px;
+  padding: 5px 14px;
   background: var(--bg1);
   border-bottom: 1px solid var(--border);
   flex-shrink: 0;
@@ -58,10 +61,16 @@ body {
 }
 #conn-dot.connected { background: var(--green); }
 #conn-dot.error     { background: var(--red); animation: blink 1s infinite; }
+#ros-dot {
+  width: 8px; height: 8px; border-radius: 50%;
+  background: var(--dim); flex-shrink: 0; transition: background .3s;
+}
+#ros-dot.connected { background: var(--orange); }
+#ros-dot.error     { background: var(--red); animation: blink 1s infinite; }
 #ws-input {
   flex: 1; background: var(--bg2); border: 1px solid #1e3a5f;
   border-radius: 4px; color: #67e8f9; padding: 2px 8px;
-  font-family: monospace; font-size: 11px;
+  font-family: monospace; font-size: 11px; min-width: 120px; max-width: 200px;
 }
 #ws-input:focus { outline: none; border-color: var(--cyan); }
 .hbtn {
@@ -71,32 +80,39 @@ body {
 }
 .hbtn:hover { background: #0e4f69; }
 #conn-label { font-size: 10px; color: var(--dim); white-space: nowrap; }
-#fix-count  { font-size: 10px; color: var(--text); margin-left: auto; white-space: nowrap; }
+.hdr-badge {
+  font-size: 9px; padding: 2px 7px; border-radius: 3px; border: 1px solid;
+  font-weight: bold; white-space: nowrap;
+}
+.badge-phone { background: #0f172a; border-color: #1d4ed8; color: var(--blue-hi); }
+.badge-robot { background: #1a0f00; border-color: #9a3412; color: var(--orange); }
 
 @keyframes blink { 0%,100%{opacity:1} 50%{opacity:.4} }
 
-/* ── Main layout ─────────────────────────────────────────────── */
-#main {
-  flex: 1;
-  display: flex;
-  min-height: 0;
-  gap: 0;
+/* ── Status bar ─────────────────────────────────────────────── */
+#status-bar {
+  display: flex; gap: 8px; align-items: center; flex-wrap: wrap;
+  padding: 3px 14px; background: var(--bg1);
+  border-bottom: 1px solid var(--border); font-size: 10px;
 }
+.sys-badge {
+  padding: 1px 7px; border-radius: 3px; font-weight: bold;
+  border: 1px solid; letter-spacing: .05em; font-size: 9px;
+}
+.badge-ok    { background: #052e16; border-color: #166534; color: #4ade80; }
+.badge-stale { background: #111827; border-color: var(--dim); color: #6b7280; }
+
+/* ── Main layout ─────────────────────────────────────────────── */
+#main { flex: 1; display: flex; min-height: 0; }
 
 /* ── Map ─────────────────────────────────────────────────────── */
-#map-wrap {
-  flex: 1;
-  position: relative;
-  min-width: 0;
-}
+#map-wrap { flex: 1; position: relative; min-width: 0; }
 #map { width: 100%; height: 100%; }
 
 /* Leaflet dark-mode override */
 .leaflet-tile { filter: brightness(.85) invert(1) hue-rotate(200deg) saturate(.7); }
 .leaflet-container { background: #090915; }
 
-/* trail colour patch (applied via JS options) */
-
 /* ── Stats sidebar ───────────────────────────────────────────── */
 #sidebar {
   width: 220px;
@@ -109,44 +125,42 @@ body {
 }
 
 .stat-section {
-  padding: 10px 12px;
+  padding: 9px 12px;
   border-bottom: 1px solid var(--border);
 }
 .section-title {
   font-size: 8px; font-weight: bold; letter-spacing: .15em;
-  color: #0891b2; text-transform: uppercase; margin-bottom: 8px;
+  color: #0891b2; text-transform: uppercase; margin-bottom: 7px;
 }
+.section-title.phone-title { color: #2563eb; }
+.section-title.robot-title { color: #c2410c; }
 
 .big-stat {
   display: flex; flex-direction: column; align-items: center;
-  padding: 6px 0;
+  padding: 4px 0;
 }
-.big-val  { font-size: 38px; font-weight: bold; font-family: monospace; line-height: 1; }
+.big-val  { font-size: 36px; font-weight: bold; font-family: monospace; line-height: 1; }
 .big-unit { font-size: 11px; color: var(--text); margin-top: 2px; }
 .big-lbl  { font-size: 8px; color: var(--dim); margin-top: 4px; letter-spacing: .1em; }
 
-.kv-grid {
-  display: grid;
-  grid-template-columns: 1fr 1fr;
-  gap: 4px;
-}
+.kv-grid { display: grid; grid-template-columns: 1fr 1fr; gap: 4px; }
 .kv-cell {
   background: var(--bg2);
   border: 1px solid var(--border);
   border-radius: 5px;
-  padding: 6px 7px;
+  padding: 5px 7px;
 }
 .kv-lbl { font-size: 8px; color: var(--dim); margin-bottom: 2px; }
 .kv-val { font-size: 13px; font-weight: bold; font-family: monospace; }
 
 .coord-row { font-size: 10px; color: var(--text); margin-bottom: 2px; }
-.coord-val { color: var(--cyan); font-family: monospace; }
+.coord-val { font-family: monospace; }
 
 /* accuracy bar */
-.acc-bar-wrap { height: 4px; background: var(--bg2); border-radius: 2px; margin-top: 6px; overflow: hidden; }
+.acc-bar-wrap { height: 4px; background: var(--bg2); border-radius: 2px; margin-top: 5px; overflow: hidden; }
 .acc-bar      { height: 100%; border-radius: 2px; transition: width .4s, background .4s; }
 
-/* heading compass rose */
+/* compass */
 #compass-wrap { display: flex; justify-content: center; padding: 6px 0; }
 #compass-canvas { border-radius: 50%; border: 1px solid var(--border); }
 
@@ -154,7 +168,7 @@ body {
 #trail-log {
   flex: 1;
   overflow-y: auto;
-  padding: 8px 12px;
+  padding: 6px 12px;
   display: flex;
   flex-direction: column;
   gap: 3px;
@@ -165,19 +179,19 @@ body {
   border-bottom: 1px solid #0c1a2a;
   padding-bottom: 3px;
 }
-.trail-entry .te-lat { color: var(--cyan); }
+.trail-entry .te-lat { color: var(--blue-hi); }
 .trail-entry .te-spd { color: var(--orange); }
 
 /* ── Bottom bar ──────────────────────────────────────────────── */
 #bottombar {
-  display: flex; align-items: center; gap: 12px;
+  display: flex; align-items: center; gap: 10px;
   padding: 4px 14px;
   background: var(--bg1);
   border-top: 1px solid var(--border);
   font-size: 10px; color: var(--text);
   flex-shrink: 0; flex-wrap: wrap;
 }
-.bb-item { display: flex; align-items: center; gap: 5px; }
+.bb-item { display: flex; align-items: center; gap: 4px; }
 .bb-lbl  { color: var(--dim); }
 #last-msg { margin-left: auto; color: var(--dim); }
 
@@ -196,6 +210,17 @@ body {
 .map-btn:hover { background: rgba(14,79,105,.85); }
 .map-btn.active { background: rgba(6,182,212,.25); border-color: var(--cyan); }
 
+/* Legend overlay */
+#map-legend {
+  position: absolute; bottom: 26px; left: 10px; z-index: 1000;
+  background: rgba(7,7,18,.88); border: 1px solid var(--border);
+  border-radius: 5px; padding: 5px 9px;
+  display: flex; flex-direction: column; gap: 4px;
+  font-size: 10px; backdrop-filter: blur(4px);
+}
+.legend-item { display: flex; align-items: center; gap: 6px; }
+.legend-dot  { width: 10px; height: 10px; border-radius: 50%; flex-shrink: 0; }
+
 @media (max-width: 600px) {
   #sidebar { display: none; }
 }
@@ -207,12 +232,26 @@ body {
 <div id="header">
   <div class="logo">⚡ SUL-TEE TRACKER</div>
   <div id="conn-bar">
-    <div id="conn-dot"></div>
+    <div id="conn-dot" title="Phone WS"></div>
+    <div id="ros-dot" title="Robot ROS"></div>
     <input id="ws-input" type="text" value="ws://100.64.0.2:9090" placeholder="ws://host:port" />
     <button class="hbtn" id="btn-connect">CONNECT</button>
     <span id="conn-label">Not connected</span>
   </div>
-  <span id="fix-count">0 fixes</span>
+  <span class="hdr-badge badge-phone" id="hdr-phone">📱 0 fixes</span>
+  <span class="hdr-badge badge-robot" id="hdr-robot">🤖 0 fixes</span>
+</div>
+
+<!-- ── Status bar ── -->
+<div id="status-bar">
+  <span style="color:var(--dim);font-size:9px">PHONE GPS</span>
+  <span class="sys-badge badge-stale" id="badge-phone">NO DATA</span>
+  <span style="color:var(--dim)">│</span>
+  <span style="color:var(--dim);font-size:9px">ROBOT FIX</span>
+  <span class="sys-badge badge-stale" id="badge-robot-fix">NO DATA</span>
+  <span style="color:var(--dim);font-size:9px">ROBOT VEL</span>
+  <span class="sys-badge badge-stale" id="badge-robot-vel">NO DATA</span>
+  <span id="status-last" style="color:var(--dim);margin-left:auto">Awaiting data…</span>
 </div>
 
 <!-- ── Main ── -->
@@ -221,28 +260,35 @@ body {
   <!-- Map -->
   <div id="map-wrap">
     <div id="map"></div>
+
     <div id="map-controls">
       <button class="map-btn active" id="btn-follow">⊙ FOLLOW</button>
+      <button class="map-btn" id="btn-fit">⊞ FIT ALL</button>
       <button class="map-btn" id="btn-clear">✕ CLEAR</button>
     </div>
+
+    <div id="map-legend">
+      <div class="legend-item"><div class="legend-dot" style="background:#3b82f6;border:2px solid #60a5fa"></div><span style="color:#60a5fa">Phone / User</span></div>
+      <div class="legend-item"><div class="legend-dot" style="background:#f97316;border:2px solid #fb923c"></div><span style="color:#f97316">Robot (SAUL-TEE)</span></div>
+    </div>
   </div>
 
   <!-- Sidebar -->
   <div id="sidebar">
 
-    <!-- Speed (big) -->
+    <!-- Phone speed (big) -->
     <div class="stat-section">
-      <div class="section-title">Speed</div>
+      <div class="section-title phone-title">📱 Phone Speed</div>
       <div class="big-stat">
-        <div class="big-val" id="val-speed" style="color:#f97316">—</div>
+        <div class="big-val" id="val-speed" style="color:#3b82f6">—</div>
         <div class="big-unit">km/h</div>
         <div class="big-lbl">GROUND SPEED</div>
       </div>
     </div>
 
-    <!-- Altitude + heading -->
+    <!-- Phone altitude + heading -->
     <div class="stat-section">
-      <div class="section-title">Altitude &amp; Heading</div>
+      <div class="section-title phone-title">Altitude &amp; Heading</div>
       <div class="kv-grid">
         <div class="kv-cell">
           <div class="kv-lbl">ALT m</div>
@@ -253,14 +299,14 @@ body {
           <div class="kv-val" id="val-hdg">—</div>
         </div>
       </div>
-      <div id="compass-wrap" style="margin-top:8px">
-        <canvas id="compass-canvas" width="120" height="120"></canvas>
+      <div id="compass-wrap" style="margin-top:6px">
+        <canvas id="compass-canvas" width="110" height="110"></canvas>
       </div>
     </div>
 
-    <!-- Accuracy + coords -->
+    <!-- Phone fix quality -->
     <div class="stat-section">
-      <div class="section-title">Fix Quality</div>
+      <div class="section-title phone-title">Phone Fix Quality</div>
       <div class="kv-grid">
         <div class="kv-cell">
           <div class="kv-lbl">H-ACC m</div>
@@ -271,17 +317,39 @@ body {
           <div class="kv-val" id="val-fixes">0</div>
         </div>
       </div>
-      <div class="acc-bar-wrap" style="margin-top:6px">
+      <div class="acc-bar-wrap">
         <div class="acc-bar" id="acc-bar"></div>
       </div>
-      <div style="margin-top:8px">
-        <div class="coord-row">LAT <span class="coord-val" id="val-lat">—</span></div>
-        <div class="coord-row">LON <span class="coord-val" id="val-lon">—</span></div>
+      <div style="margin-top:6px">
+        <div class="coord-row">LAT <span class="coord-val" id="val-lat" style="color:#60a5fa">—</span></div>
+        <div class="coord-row">LON <span class="coord-val" id="val-lon" style="color:#60a5fa">—</span></div>
       </div>
     </div>
 
-    <!-- Trail log -->
-    <div class="section-title" style="padding:8px 12px 4px">Trail log</div>
+    <!-- Robot position -->
+    <div class="stat-section">
+      <div class="section-title robot-title">🤖 Robot (SAUL-TEE)</div>
+      <div class="kv-grid">
+        <div class="kv-cell">
+          <div class="kv-lbl">SPEED km/h</div>
+          <div class="kv-val" id="robot-spd" style="color:#f97316">—</div>
+        </div>
+        <div class="kv-cell">
+          <div class="kv-lbl">FIXES</div>
+          <div class="kv-val" id="robot-fixes">0</div>
+        </div>
+      </div>
+      <div style="margin-top:6px">
+        <div class="coord-row">LAT <span class="coord-val" id="robot-lat" style="color:#fb923c">—</span></div>
+        <div class="coord-row">LON <span class="coord-val" id="robot-lon" style="color:#fb923c">—</span></div>
+      </div>
+      <div class="coord-row" style="margin-top:4px">
+        DIST <span id="robot-dist" style="color:var(--amber);font-family:monospace">—</span>
+      </div>
+    </div>
+
+    <!-- Trail log (phone) -->
+    <div class="section-title" style="padding:7px 12px 2px;color:#2563eb">Trail log (phone)</div>
     <div id="trail-log"></div>
 
   </div>
@@ -289,9 +357,9 @@ body {
 
 <!-- ── Bottom bar ── -->
 <div id="bottombar">
-  <div class="bb-item"><span class="bb-lbl">WS</span><span id="bb-ws">—</span></div>
-  <div class="bb-item"><span class="bb-lbl">MSGS</span><span id="bb-msgs">0</span></div>
-  <div class="bb-item"><span class="bb-lbl">TRAIL PTS</span><span id="bb-trail">0</span></div>
+  <div class="bb-item"><span class="bb-lbl" style="color:#3b82f6">●</span><span class="bb-lbl">PHONE</span><span id="bb-phone">0</span></div>
+  <div class="bb-item"><span class="bb-lbl" style="color:#f97316">●</span><span class="bb-lbl">ROBOT</span><span id="bb-robot">0</span></div>
+  <div class="bb-item"><span class="bb-lbl">TRAIL</span><span id="bb-trail">0</span></div>
   <span id="last-msg">No data yet</span>
 </div>
 
@@ -300,26 +368,39 @@ body {
 
 // ── Config ────────────────────────────────────────────────────────────────────
 
-const MAX_TRAIL   = 2000;   // max polyline points
-const MAX_LOG     = 60;     // trail log entries
+const MAX_TRAIL      = 2000;
+const MAX_LOG        = 60;
+const STALE_MS       = 5000;
 const RECONNECT_BASE = 2000;
 const RECONNECT_MAX  = 30000;
 const RECONNECT_MUL  = 1.5;
 
 // ── State ─────────────────────────────────────────────────────────────────────
 
-const gps = {
+const phone = {
   lat: null, lon: null, speed: null, altitude: null,
-  course: null, accuracy: null, fixes: 0,
+  course: null, accuracy: null, fixes: 0, ts: 0,
 };
-let trail       = [];   // [{lat,lon}]
+
+const robot = {
+  lat: null, lon: null, alt: null, stat: null,
+  spd: null, hdg: null, fixes: 0,
+  tsfix: 0, tsvel: 0,
+};
+
+let phoneTrail  = [];   // [{lat,lon}]
+let robotTrail  = [];
 let logEntries  = [];
-let msgCount    = 0;
-let ws          = null;
 let followMode  = true;
-let reconnDelay = RECONNECT_BASE;
-let reconnTimer = null;
-let reconnTick  = null;
+
+// WS (phone)
+let ws          = null;
+let wsDelay     = RECONNECT_BASE;
+let wsTimer     = null;
+let wsTick      = null;
+
+// ROS (robot)
+let ros         = null;
 
 // ── DOM ───────────────────────────────────────────────────────────────────────
 
@@ -327,31 +408,54 @@ const $ = id => document.getElementById(id);
 
 // ── Leaflet map ───────────────────────────────────────────────────────────────
 
-const map = L.map('map', {
-  center: [43.45, -79.76],
-  zoom:   15,
-  zoomControl: true,
-});
+const map = L.map('map', { center: [43.45, -79.76], zoom: 15, zoomControl: true });
 
 L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
   attribution: '© OpenStreetMap contributors',
   maxZoom: 19,
 }).addTo(map);
 
-// Marker with custom cyan icon
-const markerIcon = L.divIcon({
-  className: '',
-  html: `<svg width="22" height="22" viewBox="0 0 22 22" xmlns="http://www.w3.org/2000/svg">
-    <circle cx="11" cy="11" r="9" fill="#06b6d4" fill-opacity=".25" stroke="#06b6d4" stroke-width="2"/>
-    <circle cx="11" cy="11" r="4" fill="#06b6d4"/>
-  </svg>`,
-  iconSize: [22, 22],
-  iconAnchor: [11, 11],
-});
+// Phone marker — blue, bearing arrow
+function makePhoneIcon(course) {
+  const rot = (course != null && course >= 0) ? course : 0;
+  return L.divIcon({
+    className: '',
+    html: `<svg width="24" height="32" viewBox="0 0 24 32" xmlns="http://www.w3.org/2000/svg"
+              style="transform:rotate(${rot}deg);transform-origin:12px 17px">
+      <circle cx="12" cy="17" r="8" fill="#3b82f6" fill-opacity=".3" stroke="#3b82f6" stroke-width="2"/>
+      <circle cx="12" cy="17" r="3.5" fill="#3b82f6"/>
+      <polygon points="12,2 9,12 15,12" fill="#60a5fa" opacity=".9"/>
+    </svg>`,
+    iconSize:   [24, 32],
+    iconAnchor: [12, 17],
+  });
+}
 
-let marker    = null;
-let polyline  = L.polyline([], {
-  color: '#f97316', weight: 3, opacity: .85, lineJoin: 'round',
+// Robot marker — orange, heading arrow
+function makeRobotIcon(hdg) {
+  const rot = (hdg != null && hdg >= 0) ? hdg : 0;
+  return L.divIcon({
+    className: '',
+    html: `<svg width="28" height="36" viewBox="0 0 28 36" xmlns="http://www.w3.org/2000/svg"
+              style="transform:rotate(${rot}deg);transform-origin:14px 20px">
+      <circle cx="14" cy="20" r="10" fill="#f97316" fill-opacity=".25" stroke="#f97316" stroke-width="2"/>
+      <circle cx="14" cy="20" r="4"  fill="#f97316"/>
+      <polygon points="14,2 10,14 18,14" fill="#fb923c" opacity=".9"/>
+    </svg>`,
+    iconSize:   [28, 36],
+    iconAnchor: [14, 20],
+  });
+}
+
+let phoneMarker   = null;
+let robotMarker   = null;
+
+let phonePolyline = L.polyline([], {
+  color: '#3b82f6', weight: 2.5, opacity: .8, lineJoin: 'round',
+}).addTo(map);
+
+let robotPolyline = L.polyline([], {
+  color: '#f97316', weight: 2.5, opacity: .8, lineJoin: 'round',
 }).addTo(map);
 
 // ── Canvas compass ────────────────────────────────────────────────────────────
@@ -363,15 +467,12 @@ function drawCompass(hdg) {
   const cx = W / 2, cy = H / 2, r = W / 2 - 4;
 
   ctx.clearRect(0, 0, W, H);
-
-  // Ring
   ctx.beginPath(); ctx.arc(cx, cy, r, 0, Math.PI * 2);
   ctx.strokeStyle = '#1e3a5f'; ctx.lineWidth = 1.5; ctx.stroke();
   ctx.fillStyle = '#070712'; ctx.fill();
 
-  // Cardinal labels
   const cards = ['N','E','S','W'];
-  ctx.font = 'bold 9px monospace'; ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
+  ctx.font = 'bold 8px monospace'; ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
   cards.forEach((c, i) => {
     const a = i * Math.PI / 2;
     const lx = cx + Math.sin(a) * (r - 10);
@@ -382,90 +483,146 @@ function drawCompass(hdg) {
 
   if (hdg == null || hdg < 0) {
     ctx.fillStyle = '#374151'; ctx.font = '9px monospace';
+    ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
     ctx.fillText('—', cx, cy);
     return;
   }
 
-  // Needle
   const rad = (hdg - 90) * Math.PI / 180;
-  const tipLen = r - 16, tailLen = 10;
+  const tipLen = r - 14, tailLen = 9;
 
-  ctx.save();
-  ctx.translate(cx, cy);
-
-  // North tip (orange)
+  ctx.save(); ctx.translate(cx, cy);
   ctx.beginPath();
-  ctx.moveTo(Math.cos(rad) * tipLen, Math.sin(rad) * tipLen);
+  ctx.moveTo(Math.cos(rad) * tipLen,            Math.sin(rad) * tipLen);
   ctx.lineTo(Math.cos(rad + Math.PI) * tailLen, Math.sin(rad + Math.PI) * tailLen);
-  ctx.strokeStyle = '#f97316'; ctx.lineWidth = 2.5; ctx.lineCap = 'round'; ctx.stroke();
-
-  // Center dot
+  ctx.strokeStyle = '#3b82f6'; ctx.lineWidth = 2.5; ctx.lineCap = 'round'; ctx.stroke();
   ctx.beginPath(); ctx.arc(0, 0, 3, 0, Math.PI * 2);
   ctx.fillStyle = '#9ca3af'; ctx.fill();
-
   ctx.restore();
 }
 
-// ── Render GPS data ───────────────────────────────────────────────────────────
+// ── Haversine distance (km) ───────────────────────────────────────────────────
+
+function haversine(lat1, lon1, lat2, lon2) {
+  const R = 6371;
+  const dLat = (lat2 - lat1) * Math.PI / 180;
+  const dLon = (lon2 - lon1) * Math.PI / 180;
+  const a = Math.sin(dLat/2)**2 +
+            Math.cos(lat1 * Math.PI/180) * Math.cos(lat2 * Math.PI/180) * Math.sin(dLon/2)**2;
+  return R * 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
+}
+
+// ── Stale badge helper ────────────────────────────────────────────────────────
+
+function setSysBadge(id, ok, text) {
+  const el = $(id); if (!el) return;
+  el.className = `sys-badge badge-${ok ? 'ok' : 'stale'}`;
+  el.textContent = text;
+}
+
+// ── Render ────────────────────────────────────────────────────────────────────
 
 function render() {
-  const g = gps;
+  const now = Date.now();
+
+  // ─ Phone badges & stats ─
+  const phoneStale = phone.ts === 0 || (now - phone.ts > STALE_MS);
+  setSysBadge('badge-phone', !phoneStale,
+    phone.ts === 0 ? 'NO DATA' : phoneStale ? 'STALE' : 'LIVE');
+  $('hdr-phone').textContent = `📱 ${phone.fixes} fix${phone.fixes !== 1 ? 'es' : ''}`;
 
   // Speed
-  const spd = g.speed != null ? (g.speed * 3.6).toFixed(1) : '—';
-  const spdNum = g.speed != null ? g.speed * 3.6 : null;
-  const spdColor = spdNum == null ? '#6b7280'
-                 : spdNum < 5    ? '#22c55e'
-                 : spdNum < 30   ? '#f97316'
-                 :                  '#ef4444';
-  $('val-speed').textContent = spd;
-  $('val-speed').style.color = spdColor;
+  const spdKmh = phone.speed != null ? phone.speed * 3.6 : null;
+  $('val-speed').textContent = spdKmh != null ? spdKmh.toFixed(1) : '—';
+  $('val-speed').style.color = spdKmh == null ? '#6b7280'
+    : spdKmh < 5 ? '#22c55e' : spdKmh < 30 ? '#3b82f6' : '#ef4444';
 
   // Altitude
-  $('val-alt').textContent = g.altitude != null ? g.altitude.toFixed(1) : '—';
+  $('val-alt').textContent = phone.altitude != null ? phone.altitude.toFixed(1) : '—';
 
   // Heading
-  const hdg = g.course != null && g.course >= 0 ? Math.round(g.course) : null;
+  const hdg = phone.course != null && phone.course >= 0 ? Math.round(phone.course) : null;
   $('val-hdg').textContent = hdg != null ? hdg + '°' : '—';
-  drawCompass(g.course);
+  drawCompass(phone.course);
 
   // Accuracy
-  const acc = g.accuracy;
+  const acc = phone.accuracy;
   $('val-acc').textContent = acc != null ? acc.toFixed(1) : '—';
-  const accNorm = acc != null ? Math.min(1, acc / 50) : 0;
+  const accNorm  = acc != null ? Math.min(1, acc / 50) : 0;
   const accColor = acc == null ? '#374151' : acc < 5 ? '#22c55e' : acc < 15 ? '#f59e0b' : '#ef4444';
   $('acc-bar').style.width = (accNorm * 100) + '%';
   $('acc-bar').style.background = accColor;
   $('val-acc').style.color = accColor;
 
-  // Fixes
-  $('val-fixes').textContent = g.fixes;
-  $('fix-count').textContent = g.fixes + ' fix' + (g.fixes !== 1 ? 'es' : '');
-
   // Coords
-  $('val-lat').textContent = g.lat != null ? g.lat.toFixed(6) : '—';
-  $('val-lon').textContent = g.lon != null ? g.lon.toFixed(6) : '—';
+  $('val-fixes').textContent = phone.fixes;
+  $('val-lat').textContent   = phone.lat != null ? phone.lat.toFixed(6) : '—';
+  $('val-lon').textContent   = phone.lon != null ? phone.lon.toFixed(6) : '—';
 
-  // Bottom bar
-  $('bb-msgs').textContent = msgCount;
-  $('bb-trail').textContent = trail.length;
-}
+  // ─ Robot badges & stats ─
+  const robotFixStale = robot.tsfix === 0 || (now - robot.tsfix > STALE_MS);
+  const robotVelStale = robot.tsvel === 0 || (now - robot.tsvel > STALE_MS);
+  setSysBadge('badge-robot-fix', !robotFixStale,
+    robot.tsfix === 0 ? 'NO DATA' : robotFixStale ? 'STALE' : 'LIVE');
+  setSysBadge('badge-robot-vel', !robotVelStale,
+    robot.tsvel === 0 ? 'NO DATA' : robotVelStale ? 'STALE' : 'LIVE');
+  $('hdr-robot').textContent = `🤖 ${robot.fixes} fix${robot.fixes !== 1 ? 'es' : ''}`;
 
-function updateMap(lat, lon) {
-  // Marker
-  if (!marker) {
-    marker = L.marker([lat, lon], { icon: markerIcon }).addTo(map);
-    if (followMode) map.setView([lat, lon], 16);
+  const robotSpdKmh = robot.spd != null ? robot.spd : null;
+  $('robot-spd').textContent    = robotSpdKmh != null ? robotSpdKmh.toFixed(1) : '—';
+  $('robot-fixes').textContent  = robot.fixes;
+  $('robot-lat').textContent    = robot.lat != null ? robot.lat.toFixed(6) : '—';
+  $('robot-lon').textContent    = robot.lon != null ? robot.lon.toFixed(6) : '—';
+
+  // Distance between phone and robot
+  if (phone.lat != null && robot.lat != null) {
+    const km = haversine(phone.lat, phone.lon, robot.lat, robot.lon);
+    $('robot-dist').textContent = km < 1 ? (km * 1000).toFixed(0) + ' m' : km.toFixed(2) + ' km';
   } else {
-    marker.setLatLng([lat, lon]);
-    if (followMode) map.panTo([lat, lon]);
+    $('robot-dist').textContent = '—';
   }
 
-  // Trail
-  trail.push({ lat, lon });
-  if (trail.length > MAX_TRAIL) trail.shift();
-  polyline.setLatLngs(trail.map(p => [p.lat, p.lon]));
-  $('bb-trail').textContent = trail.length;
+  // ─ Bottom bar ─
+  $('bb-phone').textContent = phone.fixes;
+  $('bb-robot').textContent = robot.fixes;
+  $('bb-trail').textContent = phoneTrail.length;
+}
+
+// ── Map update functions ──────────────────────────────────────────────────────
+
+function updatePhoneMap(lat, lon, course) {
+  const icon = makePhoneIcon(course);
+  if (!phoneMarker) {
+    phoneMarker = L.marker([lat, lon], { icon }).addTo(map);
+    if (followMode) map.setView([lat, lon], 16);
+  } else {
+    phoneMarker.setIcon(icon);
+    phoneMarker.setLatLng([lat, lon]);
+    if (followMode) map.panTo([lat, lon]);
+  }
+  phoneTrail.push({ lat, lon });
+  if (phoneTrail.length > MAX_TRAIL) phoneTrail.shift();
+  phonePolyline.setLatLngs(phoneTrail.map(p => [p.lat, p.lon]));
+}
+
+function updateRobotMap(lat, lon, hdg) {
+  const icon = makeRobotIcon(hdg);
+  if (!robotMarker) {
+    robotMarker = L.marker([lat, lon], { icon }).addTo(map);
+  } else {
+    robotMarker.setIcon(icon);
+    robotMarker.setLatLng([lat, lon]);
+  }
+  robotTrail.push({ lat, lon });
+  if (robotTrail.length > MAX_TRAIL) robotTrail.shift();
+  robotPolyline.setLatLngs(robotTrail.map(p => [p.lat, p.lon]));
+}
+
+function fitAll() {
+  const pts = [];
+  if (phone.lat != null) pts.push([phone.lat, phone.lon]);
+  if (robot.lat != null) pts.push([robot.lat, robot.lon]);
+  if (pts.length > 0) map.fitBounds(pts, { padding: [40, 40], maxZoom: 17 });
 }
 
 // ── Trail log ─────────────────────────────────────────────────────────────────
@@ -476,129 +633,171 @@ function addLogEntry(d, ts) {
   logEntries.unshift({ time, lat: d.latitude, lon: d.longitude, spd });
   if (logEntries.length > MAX_LOG) logEntries.pop();
 
-  const log = $('trail-log');
-  log.innerHTML = logEntries.map(e =>
-    `<div class="trail-entry">${e.time} <span class="te-lat">${e.lat.toFixed(5)}, ${e.lon.toFixed(5)}</span> <span class="te-spd">${e.spd} km/h</span></div>`
+  $('trail-log').innerHTML = logEntries.map(e =>
+    `<div class="trail-entry">${e.time} <span class="te-lat">${e.lat.toFixed(5)},${e.lon.toFixed(5)}</span> <span class="te-spd">${e.spd} km/h</span></div>`
   ).join('');
 }
 
-// ── WebSocket ─────────────────────────────────────────────────────────────────
+// ── WebSocket (phone GPS) ─────────────────────────────────────────────────────
 
-function cancelReconn() {
-  if (reconnTimer) { clearTimeout(reconnTimer);  reconnTimer = null; }
-  if (reconnTick)  { clearInterval(reconnTick);  reconnTick  = null; }
+function cancelWsReconn() {
+  if (wsTimer) { clearTimeout(wsTimer);  wsTimer = null; }
+  if (wsTick)  { clearInterval(wsTick);  wsTick  = null; }
 }
 
-function scheduleReconn(url) {
-  cancelReconn();
-  let secs = Math.round(reconnDelay / 1000);
+function scheduleWsReconn(url) {
+  cancelWsReconn();
+  let secs = Math.round(wsDelay / 1000);
   $('conn-label').textContent = `Retry in ${secs}s…`;
   $('conn-label').style.color = '#6b7280';
-
-  reconnTick = setInterval(() => {
-    secs = Math.max(0, secs - 1);
-    if (secs > 0) $('conn-label').textContent = `Retry in ${secs}s…`;
-  }, 1000);
-
-  reconnTimer = setTimeout(() => { reconnTimer = null; doConnect(url, true); }, reconnDelay);
-  reconnDelay = Math.min(reconnDelay * RECONNECT_MUL, RECONNECT_MAX);
+  wsTick  = setInterval(() => { secs = Math.max(0, secs-1); if (secs>0) $('conn-label').textContent=`Retry in ${secs}s…`; }, 1000);
+  wsTimer = setTimeout(() => { wsTimer = null; doConnect(url, true); }, wsDelay);
+  wsDelay = Math.min(wsDelay * RECONNECT_MUL, RECONNECT_MAX);
 }
 
 function doConnect(url, isRetry) {
-  cancelReconn();
-  if (!isRetry) reconnDelay = RECONNECT_BASE;
+  cancelWsReconn();
+  if (!isRetry) wsDelay = RECONNECT_BASE;
   if (ws) { try { ws.close(); } catch(_) {} ws = null; }
 
   $('conn-label').textContent = 'Connecting…';
   $('conn-label').style.color = '#6b7280';
   $('conn-dot').className = '';
-  $('bb-ws').textContent = url;
 
-  try {
-    ws = new WebSocket(url);
-  } catch(e) {
-    $('conn-label').textContent = 'Bad URL';
-    $('conn-dot').className = 'error';
-    return;
-  }
+  try { ws = new WebSocket(url); }
+  catch(e) { $('conn-label').textContent = 'Bad URL'; $('conn-dot').className = 'error'; return; }
 
   ws.onopen = () => {
-    reconnDelay = RECONNECT_BASE;
-    cancelReconn();
+    wsDelay = RECONNECT_BASE; cancelWsReconn();
     $('conn-dot').className = 'connected';
-    $('conn-label').textContent = 'Connected';
+    $('conn-label').textContent = 'WS connected';
     $('conn-label').style.color = '#22c55e';
     localStorage.setItem('sultee_ws_url', url);
   };
-
-  ws.onclose = () => {
-    $('conn-dot').className = '';
-    ws = null;
-    scheduleReconn(url);
-  };
-
-  ws.onerror = () => {
-    $('conn-dot').className = 'error';
-    $('conn-label').style.color = '#ef4444';
-    $('conn-label').textContent = 'Error';
-  };
+  ws.onclose = () => { $('conn-dot').className = ''; ws = null; scheduleWsReconn(url); };
+  ws.onerror = () => { $('conn-dot').className = 'error'; $('conn-label').style.color='#ef4444'; $('conn-label').textContent='WS error'; };
 
   ws.onmessage = evt => {
-    msgCount++;
     let msg;
     try { msg = JSON.parse(evt.data); } catch(_) { return; }
-
     if (msg.type !== 'gps' || !msg.data) return;
-    const d = msg.data;
+
+    const d  = msg.data;
     const ts = msg.timestamp || Math.floor(Date.now() / 1000);
 
-    // Update state
-    gps.lat      = d.latitude  ?? gps.lat;
-    gps.lon      = d.longitude ?? gps.lon;
-    gps.speed    = d.speed     ?? gps.speed;
-    gps.altitude = d.altitude  ?? gps.altitude;
-    gps.course   = d.course    ?? gps.course;
-    gps.accuracy = d.horizontalAccuracy ?? gps.accuracy;
-    gps.fixes++;
+    phone.lat      = d.latitude            ?? phone.lat;
+    phone.lon      = d.longitude           ?? phone.lon;
+    phone.speed    = d.speed               ?? phone.speed;
+    phone.altitude = d.altitude            ?? phone.altitude;
+    phone.course   = d.course              ?? phone.course;
+    phone.accuracy = d.horizontalAccuracy  ?? phone.accuracy;
+    phone.fixes++;
+    phone.ts = Date.now();
 
-    render();
-
-    if (gps.lat != null && gps.lon != null) {
-      updateMap(gps.lat, gps.lon);
+    if (phone.lat != null && phone.lon != null) {
+      updatePhoneMap(phone.lat, phone.lon, phone.course);
       addLogEntry(d, ts);
     }
 
-    $('last-msg').textContent = 'Last: ' + new Date(ts * 1000).toLocaleTimeString('en-US', { hour12: false });
+    $('status-last').textContent = 'Phone: ' + new Date(ts * 1000).toLocaleTimeString('en-US', { hour12: false });
+    $('last-msg').textContent    = 'Phone: ' + new Date(ts * 1000).toLocaleTimeString('en-US', { hour12: false });
+    render();
   };
 }
 
+// ── ROSLIB (robot GPS) ────────────────────────────────────────────────────────
+
+function connectRos(url) {
+  if (ros) { try { ros.close(); } catch(_) {} }
+  ros = new ROSLIB.Ros({ url });
+
+  ros.on('connection', () => {
+    $('ros-dot').className = 'connected';
+    setupRobotTopics();
+  });
+  ros.on('error', () => { $('ros-dot').className = 'error'; });
+  ros.on('close', () => {
+    $('ros-dot').className = '';
+    setTimeout(() => connectRos(url), 5000);
+  });
+}
+
+function setupRobotTopics() {
+  // saltybot/gps/fix — {lat, lon, alt, stat, t}
+  new ROSLIB.Topic({
+    ros, name: 'saltybot/gps/fix',
+    messageType: 'std_msgs/String', throttle_rate: 500,
+  }).subscribe(msg => {
+    try {
+      const d = JSON.parse(msg.data);
+      robot.lat  = d.lat  ?? robot.lat;
+      robot.lon  = d.lon  ?? robot.lon;
+      robot.alt  = d.alt  ?? robot.alt;
+      robot.stat = d.stat ?? robot.stat;
+      robot.fixes++;
+      robot.tsfix = Date.now();
+
+      if (robot.lat != null && robot.lon != null) {
+        updateRobotMap(robot.lat, robot.lon, robot.hdg);
+      }
+      $('last-msg').textContent = 'Robot: ' + new Date().toLocaleTimeString('en-US', { hour12: false });
+      render();
+    } catch(_) {}
+  });
+
+  // saltybot/gps/vel — {spd, hdg, t}
+  new ROSLIB.Topic({
+    ros, name: 'saltybot/gps/vel',
+    messageType: 'std_msgs/String', throttle_rate: 500,
+  }).subscribe(msg => {
+    try {
+      const d = JSON.parse(msg.data);
+      robot.spd = d.spd ?? robot.spd;
+      robot.hdg = d.hdg ?? robot.hdg;
+      robot.tsvel = Date.now();
+      if (robotMarker && robot.lat != null) {
+        robotMarker.setIcon(makeRobotIcon(robot.hdg));
+      }
+      render();
+    } catch(_) {}
+  });
+}
+
+// ── Stale refresh ─────────────────────────────────────────────────────────────
+
+setInterval(render, 1000);
+
 // ── Controls ──────────────────────────────────────────────────────────────────
 
 $('btn-connect').addEventListener('click', () => {
-  doConnect($('ws-input').value.trim(), false);
+  const url = $('ws-input').value.trim();
+  doConnect(url, false);
+  connectRos(url);
 });
 $('ws-input').addEventListener('keydown', e => {
-  if (e.key === 'Enter') doConnect($('ws-input').value.trim(), false);
+  if (e.key === 'Enter') { const url = $('ws-input').value.trim(); doConnect(url, false); connectRos(url); }
 });
 
 $('btn-follow').addEventListener('click', () => {
   followMode = !followMode;
   $('btn-follow').classList.toggle('active', followMode);
   $('btn-follow').textContent = followMode ? '⊙ FOLLOW' : '⊙ FREE';
-  if (followMode && gps.lat != null) map.panTo([gps.lat, gps.lon]);
+  if (followMode && phone.lat != null) map.panTo([phone.lat, phone.lon]);
 });
 
+$('btn-fit').addEventListener('click', fitAll);
+
 $('btn-clear').addEventListener('click', () => {
-  trail = [];
-  logEntries = [];
-  gps.fixes = 0;
-  if (marker) { marker.remove(); marker = null; }
-  polyline.setLatLngs([]);
+  phoneTrail = []; robotTrail = [];
+  logEntries = []; phone.fixes = 0; robot.fixes = 0;
+  if (phoneMarker) { phoneMarker.remove(); phoneMarker = null; }
+  if (robotMarker) { robotMarker.remove(); robotMarker = null; }
+  phonePolyline.setLatLngs([]);
+  robotPolyline.setLatLngs([]);
   $('trail-log').innerHTML = '';
   render();
 });
 
-// Disable follow on manual pan
 map.on('dragstart', () => {
   if (followMode) {
     followMode = false;
@@ -614,6 +813,7 @@ map.on('dragstart', () => {
   $('ws-input').value = saved;
   drawCompass(null);
   doConnect(saved, false);
+  connectRos(saved);
 })();
 </script>
 </body>