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1ec4d3fc58
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feat: WebSocket bridge for CAN monitor dashboard (Issue #697)
rosbridge config:
- rosbridge_params.yaml: add /saltybot/barometer, /vesc/left/state,
/vesc/right/state to topics_glob whitelist (were missing, blocked
the CAN monitor panel from receiving data)
- can_monitor.launch.py: new lightweight launch — rosbridge only,
whitelist scoped to the 5 CAN monitor topics, port overridable via
launch arg (ros2 launch saltybot_bringup can_monitor.launch.py port:=9091)
can_monitor_panel.js auto-reconnect:
- Exponential backoff: 2s → 3s → 4.5s → ... → 30s cap (×1.5 factor)
- Countdown displayed in conn-label ("Retry in Xs…") during wait
- Backoff resets to 2s on successful connection
- Manual CONNECT / Enter resets backoff and cancels pending timer
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-20 16:23:27 -04:00 |
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fe979fdd1f
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feat: CAN sensor remote monitor panel (Issue #681)
Adds standalone vanilla JS/HTML/CSS panel for live CAN sensor monitoring:
- can_monitor_panel.html: 5-card dashboard grid with VESC L/R, Balance,
IMU Attitude (span-2), and Barometer cards
- can_monitor_panel.css: dark-theme styles matching existing panel suite;
bidirectional bars, live-dot flash, stat-grid, responsive layout
- can_monitor_panel.js: rosbridge subscriptions to
/vesc/left/state + /vesc/right/state (RPM bidir bar, current gauge,
voltage/duty/temp stats, fault badge, stale detection)
/saltybot/imu (quaternion→Euler, angular vel, lin accel, cal badge
from orientation_covariance[0], canvas artificial horizon + compass)
/saltybot/balance_state (state badge, motor_cmd bidir bar, PID grid)
/saltybot/barometer (altitude, pressure, temp)
Auto-connect from localStorage, 1 Hz stale checker, msg rate display
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-18 08:09:03 -04:00 |
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