43fb3f1147
feat: Route iOS phone GPS through rosbridge instead of raw WebSocket (Issue #681 )
2026-04-04 11:11:15 -04:00
b72e435bf3
fix: Update tracker GPS topic to match phone bridge (Issue #681 )
2026-04-04 10:01:57 -04:00
f71dad5344
feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
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Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 08:25:24 -04:00
811a2ccc5c
fix(sultee-tracker): subscribe to proper ROS GPS topics for robot marker
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Switch robot GPS subscription from custom saltybot/gps/* std_msgs/String
topics to the canonical /gps/fix (sensor_msgs/NavSatFix) and /gps/vel
(geometry_msgs/TwistStamped) published by the SIM7600X GPS driver node.
- /gps/fix: read msg.latitude/longitude/altitude/status.status directly
- /gps/vel: compute speed (sqrt(vx²+vy²) * 3.6 km/h) and heading
(angular.z radians → degrees) from ENU velocity components
Closes #709
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-03 22:41:47 -04:00
bb354336c3
feat(sultee-tracker): add dual device map — phone (blue) + robot (orange)
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Previously showed only phone GPS. Now also subscribes via ROSLIB to
saltybot/gps/fix + saltybot/gps/vel on the same rosbridge URL for
robot (SAUL-TEE) position. Blue marker+trail for phone (raw WS
{type:gps}), orange marker+trail for robot (ROS topics). Sidebar shows
phone speed/alt/heading/accuracy + robot lat/lon/speed + distance
between the two. FIT ALL button auto-zooms to show both. Status bar
badges for phone staleness and robot fix/vel freshness.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-03 22:38:28 -04:00
2560718b39
feat: Sul-Tee GPS live tracking dashboard (Issue #709 )
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Single-file vanilla JS dashboard at ui/sultee-tracker.html:
- Connects to ws://100.64.0.2:9090 (configurable, saved in localStorage)
- Parses {"type":"gps","data":{...},"timestamp":...} JSON frames from iPhone
- Leaflet.js + OpenStreetMap tiles with dark CSS filter
- Live position marker (cyan pulsing dot SVG icon)
- Orange polyline trail (up to 2000 points)
- Auto-centers on first GPS fix; FOLLOW/FREE toggle; drag disables follow
- Sidebar: speed (km/h, color-coded), altitude, heading, compass rose canvas,
h-accuracy bar (green/amber/red), coordinate display, fix count
- Scrollable trail log with timestamp + coords + speed per fix
- Exponential backoff auto-reconnect (2s→30s cap)
- CLEAR button resets trail, marker, log, fix count
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-03 18:12:37 -04:00
