ui/sultee-tracker.html

@@ -723,10 +723,9 @@ function connectRos(url) {
 }
 
 function setupRobotTopics() {
-  // /saltybot/phone/gps — sensor_msgs/NavSatFix published by the Pixel 5
+  // /gps/fix — sensor_msgs/NavSatFix (SIM7600X / Pixel 5 GPS)
-  // MQTT-to-ROS2 bridge (saltybot_phone package). No velocity topic.
   new ROSLIB.Topic({
-    ros, name: '/saltybot/phone/gps',
+    ros, name: '/gps/fix',
     messageType: 'sensor_msgs/NavSatFix', throttle_rate: 500,
   }).subscribe(msg => {
     robot.lat  = msg.latitude  ?? robot.lat;
@@ -742,6 +741,24 @@ function setupRobotTopics() {
     $('last-msg').textContent = 'Robot: ' + new Date().toLocaleTimeString('en-US', { hour12: false });
     render();
   });
+
+  // /gps/vel — geometry_msgs/TwistStamped (east/north m/s + heading in radians)
+  new ROSLIB.Topic({
+    ros, name: '/gps/vel',
+    messageType: 'geometry_msgs/TwistStamped', throttle_rate: 500,
+  }).subscribe(msg => {
+    const vx  = msg.twist.linear.x;   // east  m/s
+    const vy  = msg.twist.linear.y;   // north m/s
+    const spd = Math.sqrt(vx * vx + vy * vy) * 3.6; // → km/h
+    const hdg = (msg.twist.angular.z * 180 / Math.PI + 360) % 360; // radians → degrees
+    robot.spd = spd;
+    robot.hdg = hdg;
+    robot.tsvel = Date.now();
+    if (robotMarker && robot.lat != null) {
+      robotMarker.setIcon(makeRobotIcon(robot.hdg));
+    }
+    render();
+  });
 }
 
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