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

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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 changed files with 72 additions and 19 deletions
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3
jetson/ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml
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@ -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

88
jetson/ros2_ws/src/saltybot_phone/saltybot_phone/mqtt_ros2_bridge_node.py
View File

@ -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._pub_count = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0}
self._err_count = {_TOPIC_IMU: 0, _TOPIC_GPS: 0, _TOPIC_BATTERY: 0}
self._last_rx_ts = {_TOPIC_IMU: 0.0, _TOPIC_GPS: 0.0, _TOPIC_BATTERY: 0.0}
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, _TOPIC_IOS_GPS: 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, _TOPIC_IOS_GPS: 0.0}
self._mqtt_connected = False
# ── Timers ────────────────────────────────────────────────────────────
@ -162,8 +164,8 @@ class MqttRos2BridgeNode(Node):
self._mqtt_connect()
self.get_logger().info(
"MQTT→ROS2 bridge started — broker=%s:%d use_phone_ts=%s",
p["mqtt_host"], p["mqtt_port"], p["use_phone_timestamp"],
f"MQTT→ROS2 bridge started — broker={p['mqtt_host']}:{p['mqtt_port']}"
f" use_phone_ts={p['use_phone_ts']}"
)
# ── Param helper ─────────────────────────────────────────────────────────
@ -195,26 +197,26 @@ class MqttRos2BridgeNode(Node):
)
self._mqtt.loop_start()
except Exception as e:
self.get_logger().warning("MQTT initial connect error: %s", str(e))
self.get_logger().warning(f"MQTT initial connect error: {e}")
def _on_mqtt_connect(self, client, userdata, flags, rc) -> None:
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",
self._p["mqtt_host"], self._p["mqtt_port"],
f"MQTT connected to {self._p['mqtt_host']}:{self._p['mqtt_port']}"
" — subscribed to 4 phone topics"
)
else:
self.get_logger().warning("MQTT connect failed rc=%d", rc)
self.get_logger().warning(f"MQTT connect failed rc={rc}")
def _on_mqtt_disconnect(self, client, userdata, rc) -> None:
self._mqtt_connected = False
if rc != 0:
self.get_logger().warning(
"MQTT disconnected (rc=%d) — paho will reconnect", rc
f"MQTT disconnected (rc={rc}) — paho will reconnect"
)
def _on_mqtt_message(self, client, userdata, message) -> None:
@ -226,7 +228,7 @@ class MqttRos2BridgeNode(Node):
try:
self._q.put_nowait((topic, message.payload))
except queue.Full:
self.get_logger().debug("MQTT queue full — dropping %s", topic)
self.get_logger().debug(f"MQTT queue full — dropping {topic}")
# ── Queue drain (ROS2 executor thread) ────────────────────────────────────
@ -246,7 +248,7 @@ class MqttRos2BridgeNode(Node):
self._err_count.get(topic, {}) # just access
if topic in self._err_count:
self._err_count[topic] += 1
self.get_logger().debug("JSON decode error on %s: %s", topic, e)
self.get_logger().debug(f"JSON decode error on {topic}: {e}")
return
try:
@ -256,10 +258,12 @@ 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
self.get_logger().debug("Payload error on %s: %s — %s", topic, e, data)
self.get_logger().debug(f"Payload error on {topic}: {e} — {data}")
# ── Timestamp helper ──────────────────────────────────────────────────────
@ -281,8 +285,7 @@ class MqttRos2BridgeNode(Node):
drift = abs(now_epoch - phone_ts)
if drift > self._p["warn_drift_s"]:
self.get_logger().warning(
"Phone clock drift %.2f s (frame_id=%s) — using ROS2 clock",
drift, frame_id,
f"Phone clock drift {drift:.2f} s (frame_id={frame_id}) — using ROS2 clock"
)
hdr.stamp = self.get_clock().now().to_msg()
else:
@ -392,6 +395,55 @@ 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 +496,7 @@ 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,