From b72e435bf33de2d72ebd3468932574a20832e43c Mon Sep 17 00:00:00 2001
From: sl-webui <sl-webui@saltylab.local>
Date: Sat, 4 Apr 2026 10:01:57 -0400
Subject: [PATCH] fix: Update tracker GPS topic to match phone bridge (Issue
 #681)

---
 ui/sultee-tracker.html | 23 +++--------------------
 1 file changed, 3 insertions(+), 20 deletions(-)

diff --git a/ui/sultee-tracker.html b/ui/sultee-tracker.html
index a5a8e1f..93d2d1d 100644
--- a/ui/sultee-tracker.html
+++ b/ui/sultee-tracker.html
@@ -723,9 +723,10 @@ function connectRos(url) {
 }
 
 function setupRobotTopics() {
-  // /gps/fix — sensor_msgs/NavSatFix (SIM7600X / Pixel 5 GPS)
+  // /saltybot/phone/gps — sensor_msgs/NavSatFix published by the Pixel 5
+  // MQTT-to-ROS2 bridge (saltybot_phone package). No velocity topic.
   new ROSLIB.Topic({
-    ros, name: '/gps/fix',
+    ros, name: '/saltybot/phone/gps',
     messageType: 'sensor_msgs/NavSatFix', throttle_rate: 500,
   }).subscribe(msg => {
     robot.lat  = msg.latitude  ?? robot.lat;
@@ -741,24 +742,6 @@ function setupRobotTopics() {
     $('last-msg').textContent = 'Robot: ' + new Date().toLocaleTimeString('en-US', { hour12: false });
     render();
   });
-
-  // /gps/vel — geometry_msgs/TwistStamped (east/north m/s + heading in radians)
-  new ROSLIB.Topic({
-    ros, name: '/gps/vel',
-    messageType: 'geometry_msgs/TwistStamped', throttle_rate: 500,
-  }).subscribe(msg => {
-    const vx  = msg.twist.linear.x;   // east  m/s
-    const vy  = msg.twist.linear.y;   // north m/s
-    const spd = Math.sqrt(vx * vx + vy * vy) * 3.6; // → km/h
-    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();
-  });
 }
 
 // ── Stale refresh ─────────────────────────────────────────────────────────────
-- 
2.47.2