sl-firmware 6420e07487 feat: rosbridge WebSocket server for web UI (port 9090) ...

Adds rosbridge_suite to the Jetson stack so the browser dashboard can
subscribe to ROS2 topics via roslibjs over ws://jetson:9090.

docker-compose.yml
  New service: saltybot-rosbridge
  - Runs saltybot_bringup/launch/rosbridge.launch.py
  - network_mode: host → port 9090 directly reachable on Jetson LAN
  - Depends on saltybot-ros2, stm32-bridge, csi-cameras

saltybot_bringup/launch/rosbridge.launch.py
  - rosbridge_websocket node (port 9090, params from rosbridge_params.yaml)
  - 4× image_transport/republish nodes: compress CSI camera streams
    /camera/<name>/image_raw → /camera/<name>/image_raw/compressed (JPEG 75%)

saltybot_bringup/config/rosbridge_params.yaml
  Whitelisted topics:
    /map  /scan  /tf  /tf_static
    /saltybot/imu  /saltybot/balance_state
    /cmd_vel
    /person/*
    /camera/*/image_raw/compressed
  max_message_size: 10 MB (OccupancyGrid headroom)

saltybot_bringup/SENSORS.md
  Added rosbridge connection section with roslibjs snippet,
  topic reference table, bandwidth estimates, and throttle_rate tips.

saltybot_bringup/package.xml
  Added exec_depend: rosbridge_server, image_transport,
  image_transport_plugins (all already installed in Docker image).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-01 00:22:02 -05:00

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