sl-firmware
6420e07487
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>
67 lines
3.5 KiB
YAML
67 lines
3.5 KiB
YAML
# rosbridge_params.yaml — rosbridge_websocket server configuration
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#
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# WebSocket endpoint: ws://<jetson-ip>:9090
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# Browser client lib: roslibjs (cdn.jsdelivr.net/npm/roslib)
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#
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# Topic whitelist limits bandwidth and prevents unintended exposure.
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# Glob patterns follow Python fnmatch: * matches everything (incl. /).
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#
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# Bandwidth budget (worst case, all subscriptions active):
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# /map ~100 KB/update × 0.2 Hz = ~20 KB/s
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# /scan ~5 KB/scan × 5.5 Hz = ~28 KB/s
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# /saltybot/imu ~0.2 KB/msg × 50 Hz = ~10 KB/s
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# /tf ~1 KB/msg × 10 Hz = ~10 KB/s
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# 4× cameras ~20 KB/frame × 5 Hz = ~400 KB/s (JPEG quality 75)
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# ─────────────────────────────────────────────────────
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# Total ~470 KB/s ≈ 3.8 Mbps
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#
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# Use throttle_rate in roslibjs subscribe() calls to cap per-topic rates:
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# viewer.subscribe({ topic: '/map', throttle_rate: 5000 }) // 0.2 Hz
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rosbridge_websocket:
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ros__parameters:
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# ── Network ──────────────────────────────────────────────────────────────
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port: 9090
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host: "0.0.0.0" # bind all interfaces (Jetson LAN + USB-C)
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address: ""
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# ── Authentication ────────────────────────────────────────────────────────
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authenticate: false # no auth on local network; enable if exposed
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# ── Message size ──────────────────────────────────────────────────────────
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# OccupancyGrid /map can exceed 1 MB for large environments.
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max_message_size: 10000000 # 10 MB
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# ── Topic/service/param whitelists ────────────────────────────────────────
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# JSON-encoded glob list. "*" in a glob matches any chars including "/".
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# Only topics matching at least one pattern are accessible to clients.
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topics_glob: >-
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["/map",
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"/person/target",
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"/person/detections",
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"/camera/*/image_raw/compressed",
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"/scan",
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"/cmd_vel",
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"/saltybot/imu",
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"/saltybot/balance_state",
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"/tf",
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"/tf_static"]
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services_glob: "[]" # no service calls via WebSocket
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params_glob: "[]" # no parameter access via WebSocket
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# ── Connection management ─────────────────────────────────────────────────
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# Time (s) before dropping a client that stops responding.
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unregister_timeout: 10.0
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# Fragment timeout: max seconds to wait for all fragments of a large message.
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fragment_timeout: 600
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# Delay between consecutive outgoing messages (ms). 0 = unlimited.
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# Set > 0 (e.g. 10) if browser JS event loop is overwhelmed.
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delay_between_messages: 0
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# ── Logging ───────────────────────────────────────────────────────────────
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# Set to true to log every publish/subscribe call (verbose, dev only).
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bson_only_mode: false
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