Merge pull request 'fix: add phone bridge and GPS topics to rosbridge whitelist (Issue #681 )' (#721 ) from sl-webui/issue-681-fix-gps-topics into main

fix: correct delay_between_messages type to float in rosbridge_params
rclpy expects DOUBLE for this param; integer 0 raises InvalidParameterTypeException. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 11:15:12 -04:00 · 2026-04-04 10:58:09 -04:00 · 2026-04-04 10:56:06 -04:00
1 changed files with 8 additions and 2 deletions
--- a/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml
@ -53,7 +53,13 @@ rosbridge_websocket:
       "/vesc/left/state",
       "/vesc/right/state",
       "/tf",
-       "/tf_static"]
+       "/tf_static",
+       "/saltybot/phone/gps",
+       "/saltybot/phone/imu",
+       "/saltybot/phone/battery",
+       "/saltybot/phone/bridge/status",
+       "/gps/fix",
+       "/gps/vel"]

    services_glob: "[]"       # no service calls via WebSocket
    params_glob:   "[]"       # no parameter access via WebSocket
@ -67,7 +73,7 @@ rosbridge_websocket:

    # Delay between consecutive outgoing messages (ms). 0 = unlimited.
    # Set > 0 (e.g. 10) if browser JS event loop is overwhelmed.
-    delay_between_messages: 0
+    delay_between_messages: 0.0

    # ── Logging ───────────────────────────────────────────────────────────────
    # Set to true to log every publish/subscribe call (verbose, dev only).
Author	SHA1	Message	Date
sl-jetson	dd8afb480f	Merge pull request 'fix: add phone bridge and GPS topics to rosbridge whitelist (Issue #681 )' (#721 ) from sl-webui/issue-681-fix-gps-topics into main	2026-04-04 11:15:12 -04:00
sl-jetson	416a393134	fix: correct delay_between_messages type to float in rosbridge_params rclpy expects DOUBLE for this param; integer 0 raises InvalidParameterTypeException. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-04-04 10:58:09 -04:00
sl-jetson	60f500c206	fix: add phone bridge and GPS topics to rosbridge whitelist (Issue #681 ) Add /saltybot/phone/gps, /saltybot/phone/imu, /saltybot/phone/battery, /saltybot/phone/bridge/status, /gps/fix, /gps/vel to topics_glob so the browser GPS dashboard can receive phone-bridged GPS data. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-04-04 10:56:06 -04:00