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feat: Sul-Tee GPS live tracking dashboard (Issue #709) #710

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sl-jetson merged 3 commits from sl-webui/issue-709-gps-tracker into main 2026-04-03 22:43:55 -04:00
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1 changed files with 28 additions and 30 deletions
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ui/sultee-tracker.html
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@ -723,43 +723,41 @@ function connectRos(url) {
} }
function setupRobotTopics() { function setupRobotTopics() {
// saltybot/gps/fix — {lat, lon, alt, stat, t} // /gps/fix — sensor_msgs/NavSatFix (SIM7600X / Pixel 5 GPS)
new ROSLIB.Topic({ 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 => { }).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.fixes++;
robot.stat = d.stat ?? robot.stat; robot.tsfix = Date.now();
robot.fixes++;
robot.tsfix = Date.now();
if (robot.lat != null && robot.lon != null) { if (robot.lat != null && robot.lon != null) {
updateRobotMap(robot.lat, robot.lon, robot.hdg); updateRobotMap(robot.lat, robot.lon, robot.hdg);
} }
$('last-msg').textContent = 'Robot: ' + new Date().toLocaleTimeString('en-US', { hour12: false }); $('last-msg').textContent = 'Robot: ' + new Date().toLocaleTimeString('en-US', { hour12: false });
render(); render();
} catch(_) {}
}); });
// saltybot/gps/vel — {spd, hdg, t} // /gps/vel — geometry_msgs/TwistStamped (east/north m/s + heading in radians)
new ROSLIB.Topic({ 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 => { }).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.tsvel = Date.now(); robot.spd = spd;
if (robotMarker && robot.lat != null) { robot.hdg = hdg;
robotMarker.setIcon(makeRobotIcon(robot.hdg)); robot.tsvel = Date.now();
} if (robotMarker && robot.lat != null) {
render(); robotMarker.setIcon(makeRobotIcon(robot.hdg));
} catch(_) {} }
render();
}); });
} }