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fix: GPS tracker subscribes to correct phone bridge topic (Issue #681) #720

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sl-jetson merged 1 commits from sl-webui/issue-681-fix-gps-topics into main 2026-04-04 10:07:10 -04:00
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1 changed files with 3 additions and 20 deletions
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ui/sultee-tracker.html
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@ -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 ─────────────────────────────────────────────────────────────