jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml

@@ -59,7 +59,8 @@ rosbridge_websocket:
        "/saltybot/phone/battery",
        "/saltybot/phone/bridge/status",
        "/gps/fix",
-       "/gps/vel"]
+       "/gps/vel",
+       "/saltybot/ios/gps"]
 
     services_glob: "[]"       # no service calls via WebSocket
     params_glob:   "[]"       # no parameter access via WebSocket

jetson/ros2_ws/src/saltybot_phone/saltybot_phone/mqtt_ros2_bridge_node.py

@@ -68,6 +68,7 @@ except ImportError:
 _TOPIC_IMU     = "saltybot/phone/imu"
 _TOPIC_GPS     = "saltybot/phone/gps"
 _TOPIC_BATTERY = "saltybot/phone/battery"
+_TOPIC_IOS_GPS = "saltybot/ios/gps"
 
 # ── BatteryState health/power-supply constants ───────────────────────────────
 
@@ -130,15 +131,16 @@ class MqttRos2BridgeNode(Node):
         self._gps_pub     = self.create_publisher(NavSatFix,    "/saltybot/phone/gps",             10)
         self._bat_pub     = self.create_publisher(BatteryState, "/saltybot/phone/battery",         10)
         self._status_pub  = self.create_publisher(String,       "/saltybot/phone/bridge/status",   10)
+        self._ios_gps_pub = self.create_publisher(NavSatFix,    "/saltybot/ios/gps",               10)
 
         # ── Message queue (MQTT thread → ROS2 executor thread) ────────────────
         self._q: queue.Queue[tuple[str, bytes]] = queue.Queue(maxsize=200)
 
         # ── Stats ─────────────────────────────────────────────────────────────
-        self._rx_count     = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0}
+        self._rx_count     = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0, _TOPIC_IOS_GPS: 0}
-        self._pub_count    = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0}
+        self._pub_count    = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0, _TOPIC_IOS_GPS: 0}
-        self._err_count    = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0}
+        self._err_count    = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0, _TOPIC_IOS_GPS: 0}
-        self._last_rx_ts   = {_TOPIC_IMU: 0.0, _TOPIC_GPS: 0.0, _TOPIC_BATTERY: 0.0}
+        self._last_rx_ts   = {_TOPIC_IMU: 0.0, _TOPIC_GPS: 0.0, _TOPIC_BATTERY: 0.0, _TOPIC_IOS_GPS: 0.0}
         self._mqtt_connected = False
 
         # ── Timers ────────────────────────────────────────────────────────────
@@ -201,10 +203,10 @@ class MqttRos2BridgeNode(Node):
         if rc == 0:
             self._mqtt_connected = True
             # Subscribe to all phone sensor topics
-            for topic in (_TOPIC_IMU, _TOPIC_GPS, _TOPIC_BATTERY):
+            for topic in (_TOPIC_IMU, _TOPIC_GPS, _TOPIC_BATTERY, _TOPIC_IOS_GPS):
                 client.subscribe(topic, qos=0)
             self.get_logger().info(
-                "MQTT connected to %s:%d — subscribed to 3 phone topics",
+                "MQTT connected to %s:%d — subscribed to 4 phone topics",
                 self._p["mqtt_host"], self._p["mqtt_port"],
             )
         else:
@@ -256,6 +258,8 @@ class MqttRos2BridgeNode(Node):
                 self._handle_gps(data)
             elif topic == _TOPIC_BATTERY:
                 self._handle_battery(data)
+            elif topic == _TOPIC_IOS_GPS:
+                self._handle_ios_gps(data)
         except (KeyError, TypeError, ValueError) as e:
             if topic in self._err_count:
                 self._err_count[topic] += 1
@@ -392,6 +396,55 @@ class MqttRos2BridgeNode(Node):
         self._gps_pub.publish(msg)
         self._pub_count[_TOPIC_GPS] += 1
 
+    # ── iOS GPS handler ───────────────────────────────────────────────────────
+
+    def _handle_ios_gps(self, data: dict) -> None:
+        """
+        JSON: {"ts":..., "lat","lon","alt_m","accuracy_m","speed_ms","bearing_deg","provider"}
+        Same schema as phone GPS; publishes to /saltybot/ios/gps with frame_id 'ios_gps'.
+        """
+        lat = float(data["lat"])
+        lon = float(data["lon"])
+        alt = float(data.get("alt_m", 0.0))
+        acc = float(data.get("accuracy_m", -1.0))
+
+        if not (-90.0 <= lat <= 90.0):
+            raise ValueError(f"invalid latitude: {lat}")
+        if not (-180.0 <= lon <= 180.0):
+            raise ValueError(f"invalid longitude: {lon}")
+
+        msg = NavSatFix()
+        msg.header = self._make_header(data, "ios_gps")
+
+        msg.latitude  = lat
+        msg.longitude = lon
+        msg.altitude  = alt
+
+        provider = data.get("provider", "unknown").lower()
+        msg.status.service = NavSatStatus.SERVICE_GPS
+        if provider in ("gps", "fused"):
+            msg.status.status = NavSatStatus.STATUS_FIX
+        elif provider == "network":
+            msg.status.status = NavSatStatus.STATUS_FIX
+            msg.status.service = NavSatStatus.SERVICE_COMPASS
+        else:
+            msg.status.status = NavSatStatus.STATUS_NO_FIX
+
+        if acc > 0.0:
+            h_var = acc * acc
+            v_var = h_var * self._p["gps_alt_cov_factor"]
+            msg.position_covariance = [
+                h_var, 0.0,   0.0,
+                0.0,   h_var, 0.0,
+                0.0,   0.0,   v_var,
+            ]
+            msg.position_covariance_type = NavSatFix.COVARIANCE_TYPE_APPROXIMATED
+        else:
+            msg.position_covariance_type = NavSatFix.COVARIANCE_TYPE_UNKNOWN
+
+        self._ios_gps_pub.publish(msg)
+        self._pub_count[_TOPIC_IOS_GPS] += 1
+
     # ── Battery handler ───────────────────────────────────────────────────────
 
     def _handle_battery(self, data: dict) -> None:
@@ -444,7 +497,7 @@ class MqttRos2BridgeNode(Node):
         now = time.time()
         ages = {
             t: round(now - self._last_rx_ts[t], 1) if self._last_rx_ts[t] > 0 else -1.0
-            for t in (_TOPIC_IMU, _TOPIC_GPS, _TOPIC_BATTERY)
+            for t in (_TOPIC_IMU, _TOPIC_GPS, _TOPIC_BATTERY, _TOPIC_IOS_GPS)
         }
         body = {
             "mqtt_connected": self._mqtt_connected,