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Add namespace and respawn parameters to the nodes in the launch file
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@FlorianLebecque
FlorianLebecque committed Nov 27, 2024
1 parent 1de6896 commit a1c3ef9
Showing 1 changed file with 46 additions and 42 deletions.
88 changes: 46 additions & 42 deletions rosbridge_server/launch/rosbridge_websocket_launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
<arg name="certfile" default=""/>
<arg name="keyfile" default="" />

<arg name="namespace" default="ws" />

<arg name="retry_startup_delay" default="5.0" />

<arg name="fragment_timeout" default="600" />
Expand All @@ -22,54 +24,56 @@
<arg name="params_glob" default="" />
<arg name="bson_only_mode" default="false" />

<arg name="respawn" default="false"/>

<arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>
<group if="$(var ssl)">
<node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen" respawn="$(var respawn)" >
<param name="certfile" value="$(var certfile)" />
<param name="keyfile" value="$(var keyfile)" />
<param name="port" value="$(var port)"/>
<param name="address" value="$(var address)"/>
<param name="url_path" value="$(var url_path)"/>
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
<param name="max_message_size" value="$(var max_message_size)"/>
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
<param name="use_compression" value="$(var use_compression)"/>
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
<param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>

<group if="$(var ssl)">
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
<param name="certfile" value="$(var certfile)" />
<param name="keyfile" value="$(var keyfile)" />
<param name="port" value="$(var port)"/>
<param name="address" value="$(var address)"/>
<param name="url_path" value="$(var url_path)"/>
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
<param name="max_message_size" value="$(var max_message_size)"/>
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
<param name="use_compression" value="$(var use_compression)"/>
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
<param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>
<param name="topics_glob" value="$(var topics_glob)"/>
<param name="services_glob" value="$(var services_glob)"/>
<param name="params_glob" value="$(var params_glob)"/>
</node>
</group>

<param name="topics_glob" value="$(var topics_glob)"/>
<param name="services_glob" value="$(var services_glob)"/>
<param name="params_glob" value="$(var params_glob)"/>
</node>
</group>
<group unless="$(var ssl)">
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
<param name="port" value="$(var port)"/>
<param name="address" value="$(var address)"/>
<param name="url_path" value="$(var url_path)"/>
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
<param name="max_message_size" value="$(var max_message_size)"/>
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
<param name="use_compression" value="$(var use_compression)"/>
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
<param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>
<group unless="$(var ssl)">
<node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen" respawn="$(var respawn)">
<param name="port" value="$(var port)"/>
<param name="address" value="$(var address)"/>
<param name="url_path" value="$(var url_path)"/>
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
<param name="max_message_size" value="$(var max_message_size)"/>
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
<param name="use_compression" value="$(var use_compression)"/>
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
<param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>

<param name="topics_glob" value="$(var topics_glob)"/>
<param name="services_glob" value="$(var services_glob)"/>
<param name="params_glob" value="$(var params_glob)"/>

<param name="bson_only_mode" value="$(var bson_only_mode)"/>
</node>
</group>

<node name="rosapi" namespace="$(var namespace)" pkg="rosapi" exec="rosapi_node" respawn="$(var respawn)">
<param name="topics_glob" value="$(var topics_glob)"/>
<param name="services_glob" value="$(var services_glob)"/>
<param name="params_glob" value="$(var params_glob)"/>

<param name="bson_only_mode" value="$(var bson_only_mode)"/>
</node>
</group>

<node name="rosapi" pkg="rosapi" exec="rosapi_node">
<param name="topics_glob" value="$(var topics_glob)"/>
<param name="services_glob" value="$(var services_glob)"/>
<param name="params_glob" value="$(var params_glob)"/>
</node>
</launch>

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