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>
98 lines
3.7 KiB
Python
98 lines
3.7 KiB
Python
"""
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rosbridge.launch.py — rosbridge WebSocket server + compressed image transport
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Starts two things:
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1. rosbridge_websocket — WebSocket server on port 9090 (roslibjs-compatible)
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2. image_transport/republish × 4 — compresses each CSI camera's raw stream
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/camera/<name>/image_raw → /camera/<name>/image_raw/compressed
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Prerequisites (already installed in saltybot/ros2-humble:jetson-orin):
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apt install ros-humble-rosbridge-server
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apt install ros-humble-image-transport-plugins # supplies compressed plugin
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Browser connection:
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var ros = new ROSLIB.Ros({ url: 'ws://<jetson-ip>:9090' });
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Topic whitelist is configured in config/rosbridge_params.yaml.
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Bandwidth tips:
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- Subscribe to /camera/<name>/image_raw/compressed, not raw images.
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- Use throttle_rate in ROSLIB.Topic to cap camera update rate:
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new ROSLIB.Topic({ ... messageType: 'sensor_msgs/CompressedImage',
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throttle_rate: 200 }) // max 5 fps per camera
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- Subscribe to /map with throttle_rate: 5000 (0.2 Hz is enough for display).
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Usage:
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ros2 launch saltybot_bringup rosbridge.launch.py
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Verify:
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ros2 topic echo /rosbridge_websocket/status
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# In browser console:
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# var ros = new ROSLIB.Ros({ url: 'ws://jetson.local:9090' });
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# ros.on('connection', () => console.log('connected'));
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"""
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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# Camera names matching saltybot_cameras/launch/csi_cameras.launch.py
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# Topics: /camera/<name>/image_raw (published by v4l2_camera_node)
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_CAMERAS = ['front', 'left', 'rear', 'right']
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# JPEG quality for compressed output (0–100).
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# 75 = good quality/size trade-off at 640×480: ~15–25 KB/frame.
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# Lower to 50 for tighter bandwidth budgets; raise to 90 for inspection use.
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_JPEG_QUALITY = 75
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def generate_launch_description():
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pkg_share = get_package_share_directory('saltybot_bringup')
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params_file = os.path.join(pkg_share, 'config', 'rosbridge_params.yaml')
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# ── rosbridge WebSocket server ────────────────────────────────────────────
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rosbridge = Node(
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package='rosbridge_server',
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executable='rosbridge_websocket',
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name='rosbridge_websocket',
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parameters=[params_file],
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output='screen',
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)
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# ── Compressed image republishers ─────────────────────────────────────────
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# image_transport/republish subscribes to raw sensor_msgs/Image and
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# re-publishes as sensor_msgs/CompressedImage using the compressed plugin.
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#
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# Node arguments: ['raw', 'compressed']
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# 'raw' — input transport type
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# 'compressed' — output transport type
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#
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# Topic remappings:
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# in → /camera/<name>/image_raw
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# out/compressed → /camera/<name>/image_raw/compressed
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#
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# Parameter jpeg_quality controls JPEG encoder quality for the
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# compressed publisher. The full parameter path in ROS2 is:
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# /<node_name>/compressed/jpeg_quality
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republishers = [
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Node(
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package='image_transport',
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executable='republish',
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name=f'compress_{name}',
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arguments=['raw', 'compressed'],
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remappings=[
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('in', f'/camera/{name}/image_raw'),
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('out/compressed', f'/camera/{name}/image_raw/compressed'),
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],
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parameters=[{
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'compressed.jpeg_quality': _JPEG_QUALITY,
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}],
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output='screen',
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)
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for name in _CAMERAS
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]
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return LaunchDescription([rosbridge] + republishers)
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