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fix: add phone bridge and GPS topics to rosbridge whitelist (Issue #681) #721

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sl-jetson merged 2 commits from sl-webui/issue-681-fix-gps-topics into main 2026-04-04 11:15:13 -04:00
Conversation 0 Commits 2 Files Changed 1 +8 -2
1 changed files with 8 additions and 2 deletions
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10
jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml
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@ -53,7 +53,13 @@ rosbridge_websocket:
"/vesc/left/state", "/vesc/left/state",
"/vesc/right/state", "/vesc/right/state",
"/tf", "/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 services_glob: "[]" # no service calls via WebSocket
params_glob: "[]" # no parameter access via WebSocket params_glob: "[]" # no parameter access via WebSocket
@ -67,7 +73,7 @@ rosbridge_websocket:
# Delay between consecutive outgoing messages (ms). 0 = unlimited. # Delay between consecutive outgoing messages (ms). 0 = unlimited.
# Set > 0 (e.g. 10) if browser JS event loop is overwhelmed. # Set > 0 (e.g. 10) if browser JS event loop is overwhelmed.
delay_between_messages: 0 delay_between_messages: 0.0
# ── Logging ─────────────────────────────────────────────────────────────── # ── Logging ───────────────────────────────────────────────────────────────
# Set to true to log every publish/subscribe call (verbose, dev only). # Set to true to log every publish/subscribe call (verbose, dev only).