diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml
index efb2a53..8188db8 100644
--- a/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml
@@ -53,7 +53,13 @@ rosbridge_websocket:
        "/vesc/left/state",
        "/vesc/right/state",
        "/tf",
-       "/tf_static"]
+       "/tf_static",
+       "/saltybot/phone/gps",
+       "/saltybot/phone/imu",
+       "/saltybot/phone/battery",
+       "/saltybot/phone/bridge/status",
+       "/gps/fix",
+       "/gps/vel"]
 
     services_glob: "[]"       # no service calls via WebSocket
     params_glob:   "[]"       # no parameter access via WebSocket
@@ -67,7 +73,7 @@ rosbridge_websocket:
 
     # Delay between consecutive outgoing messages (ms). 0 = unlimited.
     # Set > 0 (e.g. 10) if browser JS event loop is overwhelmed.
-    delay_between_messages: 0
+    delay_between_messages: 0.0
 
     # ── Logging ───────────────────────────────────────────────────────────────
     # Set to true to log every publish/subscribe call (verbose, dev only).