Runtime Config Module (config.ts)

Module path: web_rviz/src/config.ts

Purpose

Handles browser-side runtime configuration load/save behavior. During connection setup, the default packageRootUrl value can be translated into a ROS-host-specific runtime asset root.

Public API

`RuntimeConfig`

Field	Type	Description
`rosbridgeUrl`	`string`	ROS bridge WebSocket URL.
`rvizConfigPath`	`string`	RViz config URL.
`urdfFallbackPath`	`string`	URDF fallback path when `/robot_description` is unavailable.
`packageRootUrl`	`string`	HTTP root path for `package://` resources. The persisted default is `/ros_pkgs`.
`fixedFrame`	`string`	Scene fixed frame.
`defaultPointCloudTopic`	`string`	Default point cloud topic name.
`maxPoints`	`number`	Max sampled points to keep for rendering.
`targetFps`	`number`	Render target FPS.

`defaultConfig`

Provides default values for first-time load or invalid local cache.

packageRootUrl defaults to /ros_pkgs.
When callers keep that default, the connect flow in main.ts may derive the effective runtime URL as http(s)://<rosbridge-host>:8081/ros_pkgs.

`loadConfig(): RuntimeConfig`

Loads webrviz-runtime-config from localStorage and falls back to defaults on parse errors.

`saveConfig(config: RuntimeConfig): void`

Serializes and persists runtime config to localStorage.

Behavior Notes

Auto-derived runtime asset roots are connection-scoped helpers; they do not need to overwrite the persisted packageRootUrl value.
If a user enters a custom packageRootUrl, that explicit value is preserved and auto-derivation is skipped.