# rosbridge_params.yaml — rosbridge_websocket server configuration
#
# WebSocket endpoint:  ws://<jetson-ip>:9090
# Browser client lib:  roslibjs  (cdn.jsdelivr.net/npm/roslib)
#
# Topic whitelist limits bandwidth and prevents unintended exposure.
# Glob patterns follow Python fnmatch: * matches everything (incl. /).
#
# Bandwidth budget (worst case, all subscriptions active):
#   /map           ~100 KB/update × 0.2 Hz = ~20 KB/s
#   /scan          ~5 KB/scan    × 5.5 Hz = ~28 KB/s
#   /saltybot/imu  ~0.2 KB/msg   × 50 Hz  = ~10 KB/s
#   /tf            ~1 KB/msg     × 10 Hz  = ~10 KB/s
#   4× cameras     ~20 KB/frame  × 5 Hz   = ~400 KB/s  (JPEG quality 75)
#   ─────────────────────────────────────────────────────
#   Total                                   ~470 KB/s ≈ 3.8 Mbps
#
# Use throttle_rate in roslibjs subscribe() calls to cap per-topic rates:
#   viewer.subscribe({ topic: '/map', throttle_rate: 5000 })  // 0.2 Hz

rosbridge_websocket:
  ros__parameters:
    # ── Network ──────────────────────────────────────────────────────────────
    port: 9090
    host: "0.0.0.0"          # bind all interfaces (Jetson LAN + USB-C)
    address: ""

    # ── Authentication ────────────────────────────────────────────────────────
    authenticate: false       # no auth on local network; enable if exposed

    # ── Message size ──────────────────────────────────────────────────────────
    # OccupancyGrid /map can exceed 1 MB for large environments.
    max_message_size: 10000000   # 10 MB

    # ── Topic/service/param whitelists ────────────────────────────────────────
    # JSON-encoded glob list.  "*" in a glob matches any chars including "/".
    # Only topics matching at least one pattern are accessible to clients.
    topics_glob: >-
      ["/map",
       "/person/target",
       "/person/detections",
       "/camera/*/image_raw/compressed",
       "/camera/depth/image_rect_raw/compressed",
       "/camera/panoramic/compressed",
       "/social/faces/detections",
       "/social/gestures",
       "/social/scene/objects",
       "/scan",
       "/cmd_vel",
       "/saltybot/imu",
       "/saltybot/balance_state",
       "/saltybot/barometer",
       "/vesc/left/state",
       "/vesc/right/state",
       "/tf",
       "/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

    # ── Connection management ─────────────────────────────────────────────────
    # Time (s) before dropping a client that stops responding.
    unregister_timeout: 10.0

    # Fragment timeout: max seconds to wait for all fragments of a large message.
    fragment_timeout: 600

    # Delay between consecutive outgoing messages (ms). 0 = unlimited.
    # Set > 0 (e.g. 10) if browser JS event loop is overwhelmed.
    delay_between_messages: 0

    # ── Logging ───────────────────────────────────────────────────────────────
    # Set to true to log every publish/subscribe call (verbose, dev only).
    bson_only_mode: false