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Termux MQTT-to-ROS2 bridge for phone sensors #601

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opened 2026-03-14 14:55:23 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 14:55:23 -04:00
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Create a Jetson-side ROS2 node that subscribes to MQTT topics (saltybot/phone/imu, gps, battery) from the Termux sensor dashboard and republishes as ROS2 messages. IMU -> sensor_msgs/Imu on /saltybot/phone/imu. GPS -> sensor_msgs/NavSatFix on /saltybot/phone/gps. Battery -> sensor_msgs/BatteryState on /saltybot/phone/battery. Handle MQTT reconnection, message validation, timestamp alignment. Launch file included.

Create a Jetson-side ROS2 node that subscribes to MQTT topics (saltybot/phone/imu, gps, battery) from the Termux sensor dashboard and republishes as ROS2 messages. IMU -> sensor_msgs/Imu on /saltybot/phone/imu. GPS -> sensor_msgs/NavSatFix on /saltybot/phone/gps. Battery -> sensor_msgs/BatteryState on /saltybot/phone/battery. Handle MQTT reconnection, message validation, timestamp alignment. Launch file included.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#601
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