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feat: MQTT bridge for iOS GPS on /saltybot/ios/gps (Issue #681) #723

Merged
sl-jetson merged 2 commits from sl-jetson/issue-681-ios-gps-bridge into main 2026-04-04 11:21:15 -04:00
Conversation 0 Commits 2 Files Changed 2 +72 -19

2 Commits

Author SHA1 Message Date
sl-jetson
fbc88f5c2a fix: correct rclpy logger calls to use f-strings (pre-existing bugs) 
rclpy RcutilsLogger.info/warning/debug() do not accept printf-style
positional format args. Also fix p["use_phone_timestamp"] → p["use_phone_ts"]
key mismatch in __init__ log line.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 11:20:58 -04:00
sl-jetson
0122957b6b feat: Add iOS phone GPS MQTT-to-ROS2 bridge topic (Issue #681) 
- Add _TOPIC_IOS_GPS = 'saltybot/ios/gps' constant
- Subscribe to saltybot/ios/gps in _on_mqtt_connect
- Dispatch to _handle_ios_gps() in _dispatch()
- _handle_ios_gps(): same logic as _handle_gps(), frame_id='ios_gps',
  publishes to /saltybot/ios/gps via self._ios_gps_pub
- Add rx/pub/err/last_rx_ts counters for the new topic
- Add /saltybot/ios/gps to rosbridge_params.yaml topics_glob

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 11:20:58 -04:00