ui/sultee-tracker.html

@@ -723,17 +723,15 @@ function connectRos(url) {
 }
 
 function setupRobotTopics() {
-  // saltybot/gps/fix — {lat, lon, alt, stat, t}
+  // /gps/fix — sensor_msgs/NavSatFix (SIM7600X / Pixel 5 GPS)
   new ROSLIB.Topic({
-    ros, name: 'saltybot/gps/fix',
+    ros, name: '/gps/fix',
-    messageType: 'std_msgs/String', throttle_rate: 500,
+    messageType: 'sensor_msgs/NavSatFix', throttle_rate: 500,
   }).subscribe(msg => {
-    try {
+    robot.lat  = msg.latitude  ?? robot.lat;
-      const d = JSON.parse(msg.data);
+    robot.lon  = msg.longitude ?? robot.lon;
-      robot.lat  = d.lat  ?? robot.lat;
+    robot.alt  = msg.altitude  ?? robot.alt;
-      robot.lon  = d.lon  ?? robot.lon;
+    robot.stat = msg.status ? msg.status.status : robot.stat;
-      robot.alt  = d.alt  ?? robot.alt;
-      robot.stat = d.stat ?? robot.stat;
     robot.fixes++;
     robot.tsfix = Date.now();
 
@@ -742,24 +740,24 @@ function setupRobotTopics() {
     }
     $('last-msg').textContent = 'Robot: ' + new Date().toLocaleTimeString('en-US', { hour12: false });
     render();
-    } catch(_) {}
   });
 
-  // saltybot/gps/vel — {spd, hdg, t}
+  // /gps/vel — geometry_msgs/TwistStamped (east/north m/s + heading in radians)
   new ROSLIB.Topic({
-    ros, name: 'saltybot/gps/vel',
+    ros, name: '/gps/vel',
-    messageType: 'std_msgs/String', throttle_rate: 500,
+    messageType: 'geometry_msgs/TwistStamped', throttle_rate: 500,
   }).subscribe(msg => {
-    try {
+    const vx  = msg.twist.linear.x;   // east  m/s
-      const d = JSON.parse(msg.data);
+    const vy  = msg.twist.linear.y;   // north m/s
-      robot.spd = d.spd ?? robot.spd;
+    const spd = Math.sqrt(vx * vx + vy * vy) * 3.6; // → km/h
-      robot.hdg = d.hdg ?? robot.hdg;
+    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();
-    } catch(_) {}
   });
 }