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

@@ -49,9 +49,6 @@ rosbridge_websocket:
        "/cmd_vel",
        "/saltybot/imu",
        "/saltybot/balance_state",
-       "/saltybot/barometer",
-       "/vesc/left/state",
-       "/vesc/right/state",
        "/tf",
        "/tf_static"]
 

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

@@ -1,70 +0,0 @@
-"""
-can_monitor.launch.py — Lightweight rosbridge server for CAN sensor dashboard (Issue #697)
-
-Starts rosbridge_websocket on port 9090 with a whitelist limited to the five
-topics consumed by can_monitor_panel.html:
-
-  /saltybot/imu           sensor_msgs/Imu           — IMU attitude
-  /saltybot/balance_state std_msgs/String (JSON)    — balance PID state
-  /saltybot/barometer     std_msgs/String (JSON)    — pressure / temp / altitude
-  /vesc/left/state        std_msgs/String (JSON)    — left VESC telemetry
-  /vesc/right/state       std_msgs/String (JSON)    — right VESC telemetry
-
-Usage:
-  ros2 launch saltybot_bringup can_monitor.launch.py
-
-  # Override port if needed:
-  ros2 launch saltybot_bringup can_monitor.launch.py port:=9091
-
-Verify:
-  # From a browser on the same LAN:
-  #   var ros = new ROSLIB.Ros({ url: 'ws://<jetson-ip>:9090' });
-  #   ros.on('connection', () => console.log('connected'));
-"""
-
-import os
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-
-
-# Topics exposed to the CAN monitor WebUI panel.
-_TOPICS = [
-    '/saltybot/imu',
-    '/saltybot/balance_state',
-    '/saltybot/barometer',
-    '/vesc/left/state',
-    '/vesc/right/state',
-]
-
-_TOPICS_GLOB = '[' + ', '.join(f'"{t}"' for t in _TOPICS) + ']'
-
-
-def generate_launch_description():
-    port_arg = DeclareLaunchArgument(
-        'port',
-        default_value='9090',
-        description='WebSocket port for rosbridge (default 9090)',
-    )
-
-    rosbridge = Node(
-        package='rosbridge_server',
-        executable='rosbridge_websocket',
-        name='rosbridge_websocket',
-        parameters=[{
-            'port':               LaunchConfiguration('port'),
-            'host':               '0.0.0.0',
-            'authenticate':       False,
-            'max_message_size':   1000000,    # 1 MB — no large map payloads needed
-            'topics_glob':        _TOPICS_GLOB,
-            'services_glob':      '[]',
-            'params_glob':        '[]',
-            'unregister_timeout': 10.0,
-            'fragment_timeout':   600,
-            'delay_between_messages': 0,
-        }],
-        output='screen',
-    )
-
-    return LaunchDescription([port_arg, rosbridge])

ui/can_monitor_panel.js

@@ -293,51 +293,11 @@ function drawCompass(yaw) {
 
 // ── ROS connection ────────────────────────────────────────────────────────────
 
-// ── Auto-reconnect state ──────────────────────────────────────────────────────
+function connect(url) {
-
-const RECONNECT_BASE_MS = 2000;
-const RECONNECT_MAX_MS  = 30000;
-const RECONNECT_FACTOR  = 1.5;
-
-let reconnectDelay  = RECONNECT_BASE_MS;
-let reconnectTimer  = null;
-let reconnectTick   = null;
-let reconnectTarget = null;
-
-function cancelReconnect() {
-  if (reconnectTimer) { clearTimeout(reconnectTimer);  reconnectTimer = null; }
-  if (reconnectTick)  { clearInterval(reconnectTick);  reconnectTick  = null; }
-}
-
-function scheduleReconnect(url) {
-  cancelReconnect();
-  let secs = Math.round(reconnectDelay / 1000);
-  $('conn-label').textContent = `Retry in ${secs}s…`;
-
-  reconnectTick = setInterval(() => {
-    secs = Math.max(0, secs - 1);
-    if (secs > 0) $('conn-label').textContent = `Retry in ${secs}s…`;
-  }, 1000);
-
-  reconnectTimer = setTimeout(() => {
-    reconnectTimer = null;
-    connect(url, true);
-  }, reconnectDelay);
-
-  reconnectDelay = Math.min(reconnectDelay * RECONNECT_FACTOR, RECONNECT_MAX_MS);
-}
-
-function connect(url, isAutoRetry) {
-  cancelReconnect();
-  reconnectTarget = url;
-  if (!isAutoRetry) reconnectDelay = RECONNECT_BASE_MS;
-
   if (ros) { try { ros.close(); } catch(_) {} }
   ros = new ROSLIB.Ros({ url });
 
   ros.on('connection', () => {
-    reconnectDelay = RECONNECT_BASE_MS;
-    cancelReconnect();
     $('conn-dot').className = 'connected';
     $('conn-label').style.color = '#22c55e';
     $('conn-label').textContent = 'Connected';
@@ -355,7 +315,7 @@ function connect(url, isAutoRetry) {
   ros.on('close', () => {
     $('conn-dot').className = '';
     $('conn-label').style.color = '#6b7280';
-    scheduleReconnect(reconnectTarget || $('ws-input').value.trim());
+    $('conn-label').textContent = 'Disconnected';
   });
 }
 
@@ -445,8 +405,8 @@ function setupTopics() {
 
 // ── UI wiring ─────────────────────────────────────────────────────────────────
 
-$('btn-connect').addEventListener('click', () => connect($('ws-input').value.trim(), false));
+$('btn-connect').addEventListener('click', () => connect($('ws-input').value.trim()));
-$('ws-input').addEventListener('keydown', e => { if (e.key === 'Enter') connect($('ws-input').value.trim(), false); });
+$('ws-input').addEventListener('keydown', e => { if (e.key === 'Enter') connect($('ws-input').value.trim()); });
 
 // ── Auto-connect on load ──────────────────────────────────────────────────────