From 60f500c206fb3b25fedd38edb49aee1a81fde8bb Mon Sep 17 00:00:00 2001 From: sl-jetson Date: Sat, 4 Apr 2026 10:56:06 -0400 Subject: [PATCH 1/2] fix: add phone bridge and GPS topics to rosbridge whitelist (Issue #681) Add /saltybot/phone/gps, /saltybot/phone/imu, /saltybot/phone/battery, /saltybot/phone/bridge/status, /gps/fix, /gps/vel to topics_glob so the browser GPS dashboard can receive phone-bridged GPS data. Co-Authored-By: Claude Sonnet 4.6 --- .../src/saltybot_bringup/config/rosbridge_params.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) 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..af96998 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 -- 2.47.2 From 416a39313414de2e81cc6e1d54d2f3f9a8b26b61 Mon Sep 17 00:00:00 2001 From: sl-jetson Date: Sat, 4 Apr 2026 10:58:09 -0400 Subject: [PATCH 2/2] fix: correct delay_between_messages type to float in rosbridge_params rclpy expects DOUBLE for this param; integer 0 raises InvalidParameterTypeException. Co-Authored-By: Claude Sonnet 4.6 --- .../ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 af96998..8188db8 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml @@ -73,7 +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). -- 2.47.2