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

@@ -49,6 +49,9 @@ 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

@@ -0,0 +1,70 @@
+"""
+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

@@ -293,11 +293,51 @@ function drawCompass(yaw) {
 
 // ── ROS connection ────────────────────────────────────────────────────────────
 
-function connect(url) {
+// ── Auto-reconnect state ──────────────────────────────────────────────────────
+
+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';
@@ -315,7 +355,7 @@ function connect(url) {
   ros.on('close', () => {
     $('conn-dot').className = '';
     $('conn-label').style.color = '#6b7280';
-    $('conn-label').textContent = 'Disconnected';
+    scheduleReconnect(reconnectTarget || $('ws-input').value.trim());
   });
 }
 
@@ -405,8 +445,8 @@ function setupTopics() {
 
 // ── UI wiring ─────────────────────────────────────────────────────────────────
 
-$('btn-connect').addEventListener('click', () => connect($('ws-input').value.trim()));
+$('btn-connect').addEventListener('click', () => connect($('ws-input').value.trim(), false));
-$('ws-input').addEventListener('keydown', e => { if (e.key === 'Enter') connect($('ws-input').value.trim()); });
+$('ws-input').addEventListener('keydown', e => { if (e.key === 'Enter') connect($('ws-input').value.trim(), false); });
 
 // ── Auto-connect on load ──────────────────────────────────────────────────────