jetson/docker-compose.yml

@@ -166,20 +166,6 @@ services:
 
   # ── Surround vision — 360° bird's-eye view + Nav2 camera obstacle layer ─────
   saltybot-surround:
-
-  # ── rosbridge WebSocket server ────────────────────────────────────────────
-  # Serves ROS2 topics to the web dashboard (roslibjs) on ws://jetson:9090
-  #
-  # Topics exposed (whitelist in ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml):
-  #   /map  /scan  /tf  /tf_static  /saltybot/imu  /saltybot/balance_state
-  #   /cmd_vel  /person/*  /camera/*/image_raw/compressed
-  #
-  # Also runs image_transport/republish nodes to compress 4× CSI camera streams.
-  # Raw 640×480 YUYV → JPEG-compressed sensor_msgs/CompressedImage.
-  #
-  # Install (already in image): apt install ros-humble-rosbridge-server
-  #                                         ros-humble-image-transport-plugins
-  rosbridge:
     image: saltybot/ros2-humble:jetson-orin
     build:
       context: .
@@ -205,29 +191,6 @@ services:
           start_cameras:=false
           camera_height:=0.30
           publish_rate:=5.0
-
-    container_name: saltybot-rosbridge
-    restart: unless-stopped
-    runtime: nvidia
-    network_mode: host            # port 9090 is directly reachable on host
-    depends_on:
-      - saltybot-ros2             # needs /map, /tf published
-      - stm32-bridge              # needs /saltybot/imu, /saltybot/balance_state
-      - csi-cameras               # needs /camera/*/image_raw for compression
-    environment:
-      - ROS_DOMAIN_ID=42
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    volumes:
-      - ./ros2_ws/src:/ros2_ws/src:rw
-      - ./config:/config:ro
-    # Port 9090 is accessible on all host interfaces via network_mode: host.
-    # To restrict to a specific interface, set host: "192.168.x.x" in
-    # rosbridge_params.yaml instead of using Docker port mappings.
-    command: >
-      bash -c "
-        source /opt/ros/humble/setup.bash &&
-        source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
-        ros2 launch saltybot_bringup rosbridge.launch.py
       "
 
   # ── Nav2 autonomous navigation stack ────────────────────────────────────────

jetson/ros2_ws/src/saltybot_bringup/SENSORS.md

@@ -4,60 +4,6 @@ ROS2 Humble | ROS_DOMAIN_ID=42 | DDS: CycloneDDS
 
 ---
 
-## rosbridge WebSocket (web dashboard)
-
-The web dashboard connects to ROS2 topics via rosbridge WebSocket on **port 9090**.
-
-```bash
-# Start rosbridge (and compressed camera republishers):
-ros2 launch saltybot_bringup rosbridge.launch.py
-
-# Or via docker-compose:
-docker compose up -d rosbridge
-```
-
-**Browser connection (roslibjs):**
-```javascript
-var ros = new ROSLIB.Ros({ url: 'ws://jetson.local:9090' });
-ros.on('connection', () => console.log('connected'));
-ros.on('error',      (e) => console.error('error', e));
-ros.on('close',      () => console.log('disconnected'));
-```
-
-**Whitelisted topics** (configured in `config/rosbridge_params.yaml`):
-
-| Topic | Type | Notes |
-|-------|------|-------|
-| `/map` | `nav_msgs/OccupancyGrid` | Use `throttle_rate: 5000` (0.2 Hz) |
-| `/scan` | `sensor_msgs/LaserScan` | 5.5 Hz, 1440 pts |
-| `/tf` | `tf2_msgs/TFMessage` | Use `throttle_rate: 100` (10 Hz) |
-| `/tf_static` | `tf2_msgs/TFMessage` | One-shot on connect |
-| `/saltybot/imu` | `sensor_msgs/Imu` | 50 Hz, pitch/roll/yaw |
-| `/saltybot/balance_state` | `std_msgs/String` | JSON balance controller state |
-| `/cmd_vel` | `geometry_msgs/Twist` | Subscribe to monitor Nav2 commands |
-| `/person/target` | (custom) | Person tracking target |
-| `/person/detections` | (custom) | Person detection results |
-| `/camera/front/image_raw/compressed` | `sensor_msgs/CompressedImage` | JPEG 75%, 640×480 |
-| `/camera/left/image_raw/compressed` | `sensor_msgs/CompressedImage` | JPEG 75%, 640×480 |
-| `/camera/rear/image_raw/compressed` | `sensor_msgs/CompressedImage` | JPEG 75%, 640×480 |
-| `/camera/right/image_raw/compressed` | `sensor_msgs/CompressedImage` | JPEG 75%, 640×480 |
-
-**Bandwidth tips:**
-- Raw 640×480 YUYV = ~900 KB/frame. rosbridge republishes JPEG-compressed ≈ 15–25 KB/frame.
-- Always use `throttle_rate` for cameras in roslibjs (e.g. `throttle_rate: 200` = max 5 fps).
-- `/map` is large (~100 KB); use `throttle_rate: 5000` or subscribe only on demand.
-
-**Verify connection:**
-```bash
-# Check WebSocket is listening
-ss -tlnp | grep 9090
-
-# List topics visible to rosbridge
-ros2 topic list | grep -E 'map|scan|imu|camera|person|cmd_vel'
-```
-
----
-
 ## Build & Run
 
 ```bash

jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml

@@ -1,66 +0,0 @@
-# rosbridge_params.yaml — rosbridge_websocket server configuration
-#
-# WebSocket endpoint:  ws://<jetson-ip>:9090
-# Browser client lib:  roslibjs  (cdn.jsdelivr.net/npm/roslib)
-#
-# Topic whitelist limits bandwidth and prevents unintended exposure.
-# Glob patterns follow Python fnmatch: * matches everything (incl. /).
-#
-# Bandwidth budget (worst case, all subscriptions active):
-#   /map           ~100 KB/update × 0.2 Hz = ~20 KB/s
-#   /scan          ~5 KB/scan    × 5.5 Hz = ~28 KB/s
-#   /saltybot/imu  ~0.2 KB/msg   × 50 Hz  = ~10 KB/s
-#   /tf            ~1 KB/msg     × 10 Hz  = ~10 KB/s
-#   4× cameras     ~20 KB/frame  × 5 Hz   = ~400 KB/s  (JPEG quality 75)
-#   ─────────────────────────────────────────────────────
-#   Total                                   ~470 KB/s ≈ 3.8 Mbps
-#
-# Use throttle_rate in roslibjs subscribe() calls to cap per-topic rates:
-#   viewer.subscribe({ topic: '/map', throttle_rate: 5000 })  // 0.2 Hz
-
-rosbridge_websocket:
-  ros__parameters:
-    # ── Network ──────────────────────────────────────────────────────────────
-    port: 9090
-    host: "0.0.0.0"          # bind all interfaces (Jetson LAN + USB-C)
-    address: ""
-
-    # ── Authentication ────────────────────────────────────────────────────────
-    authenticate: false       # no auth on local network; enable if exposed
-
-    # ── Message size ──────────────────────────────────────────────────────────
-    # OccupancyGrid /map can exceed 1 MB for large environments.
-    max_message_size: 10000000   # 10 MB
-
-    # ── Topic/service/param whitelists ────────────────────────────────────────
-    # JSON-encoded glob list.  "*" in a glob matches any chars including "/".
-    # Only topics matching at least one pattern are accessible to clients.
-    topics_glob: >-
-      ["/map",
-       "/person/target",
-       "/person/detections",
-       "/camera/*/image_raw/compressed",
-       "/scan",
-       "/cmd_vel",
-       "/saltybot/imu",
-       "/saltybot/balance_state",
-       "/tf",
-       "/tf_static"]
-
-    services_glob: "[]"       # no service calls via WebSocket
-    params_glob:   "[]"       # no parameter access via WebSocket
-
-    # ── Connection management ─────────────────────────────────────────────────
-    # Time (s) before dropping a client that stops responding.
-    unregister_timeout: 10.0
-
-    # Fragment timeout: max seconds to wait for all fragments of a large message.
-    fragment_timeout: 600
-
-    # Delay between consecutive outgoing messages (ms). 0 = unlimited.
-    # Set > 0 (e.g. 10) if browser JS event loop is overwhelmed.
-    delay_between_messages: 0
-
-    # ── Logging ───────────────────────────────────────────────────────────────
-    # Set to true to log every publish/subscribe call (verbose, dev only).
-    bson_only_mode: false

jetson/ros2_ws/src/saltybot_bringup/launch/rosbridge.launch.py

@@ -1,97 +0,0 @@
-"""
-rosbridge.launch.py — rosbridge WebSocket server + compressed image transport
-
-Starts two things:
-  1. rosbridge_websocket — WebSocket server on port 9090 (roslibjs-compatible)
-  2. image_transport/republish × 4 — compresses each CSI camera's raw stream
-     /camera/<name>/image_raw  →  /camera/<name>/image_raw/compressed
-
-Prerequisites (already installed in saltybot/ros2-humble:jetson-orin):
-  apt install ros-humble-rosbridge-server
-  apt install ros-humble-image-transport-plugins   # supplies compressed plugin
-
-Browser connection:
-  var ros = new ROSLIB.Ros({ url: 'ws://<jetson-ip>:9090' });
-
-Topic whitelist is configured in config/rosbridge_params.yaml.
-
-Bandwidth tips:
-  - Subscribe to /camera/<name>/image_raw/compressed, not raw images.
-  - Use throttle_rate in ROSLIB.Topic to cap camera update rate:
-      new ROSLIB.Topic({ ... messageType: 'sensor_msgs/CompressedImage',
-                         throttle_rate: 200 })  // max 5 fps per camera
-  - Subscribe to /map with throttle_rate: 5000 (0.2 Hz is enough for display).
-
-Usage:
-  ros2 launch saltybot_bringup rosbridge.launch.py
-
-Verify:
-  ros2 topic echo /rosbridge_websocket/status
-  # In browser console:
-  #   var ros = new ROSLIB.Ros({ url: 'ws://jetson.local:9090' });
-  #   ros.on('connection', () => console.log('connected'));
-"""
-
-import os
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-
-
-# Camera names matching saltybot_cameras/launch/csi_cameras.launch.py
-# Topics: /camera/<name>/image_raw  (published by v4l2_camera_node)
-_CAMERAS = ['front', 'left', 'rear', 'right']
-
-# JPEG quality for compressed output (0–100).
-# 75 = good quality/size trade-off at 640×480: ~15–25 KB/frame.
-# Lower to 50 for tighter bandwidth budgets; raise to 90 for inspection use.
-_JPEG_QUALITY = 75
-
-
-def generate_launch_description():
-    pkg_share = get_package_share_directory('saltybot_bringup')
-    params_file = os.path.join(pkg_share, 'config', 'rosbridge_params.yaml')
-
-    # ── rosbridge WebSocket server ────────────────────────────────────────────
-    rosbridge = Node(
-        package='rosbridge_server',
-        executable='rosbridge_websocket',
-        name='rosbridge_websocket',
-        parameters=[params_file],
-        output='screen',
-    )
-
-    # ── Compressed image republishers ─────────────────────────────────────────
-    # image_transport/republish subscribes to raw sensor_msgs/Image and
-    # re-publishes as sensor_msgs/CompressedImage using the compressed plugin.
-    #
-    # Node arguments: ['raw', 'compressed']
-    #   'raw'        — input transport type
-    #   'compressed' — output transport type
-    #
-    # Topic remappings:
-    #   in              →  /camera/<name>/image_raw
-    #   out/compressed  →  /camera/<name>/image_raw/compressed
-    #
-    # Parameter jpeg_quality controls JPEG encoder quality for the
-    # compressed publisher.  The full parameter path in ROS2 is:
-    #   /<node_name>/compressed/jpeg_quality
-    republishers = [
-        Node(
-            package='image_transport',
-            executable='republish',
-            name=f'compress_{name}',
-            arguments=['raw', 'compressed'],
-            remappings=[
-                ('in',             f'/camera/{name}/image_raw'),
-                ('out/compressed', f'/camera/{name}/image_raw/compressed'),
-            ],
-            parameters=[{
-                'compressed.jpeg_quality': _JPEG_QUALITY,
-            }],
-            output='screen',
-        )
-        for name in _CAMERAS
-    ]
-
-    return LaunchDescription([rosbridge] + republishers)

jetson/ros2_ws/src/saltybot_bringup/package.xml

@@ -15,9 +15,6 @@
   <exec_depend>nav2_bringup</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>rosbridge_server</exec_depend>
-  <exec_depend>image_transport</exec_depend>
-  <exec_depend>image_transport_plugins</exec_depend>
 
   <buildtool_depend>ament_python</buildtool_depend>