Add support for namespaces and respawn of crashed nodes #977
Conversation
FlorianLebecque
force-pushed
the
ros2
branch
2 times, most recently
from
df76d60 to
a1c3ef9
Compare
FlorianLebecque
force-pushed
the
ros2
branch
from
61a2413 to
ca3330f
Compare
|
Yes, indeed; should be fixed now |
| <arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/> | ||
|
|
||
| <arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/> |
There was a problem hiding this comment.
This line is doubled now. @sea-bass Is this even needed? This argument does not seem to be used anywhere
There was a problem hiding this comment.
I don't understand how i haven't see this.
The argument seems to be used in the rosbridge_websocket node
There was a problem hiding this comment.
The bson_only_mode is used but the binary_encoder defined here doesn't seem to be used
FlorianLebecque
force-pushed
the
ros2
branch
from
ca3330f to
c01de67
Compare
|
My proposed alternative for namespaces is to use: before the nodes are defined. |
Fix indentation Fix indentation Update rosbridge_server/launch/rosbridge_websocket_launch.xml Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
FlorianLebecque
force-pushed
the
ros2
branch
from
7fb615a to
f4c60db
Compare
There was a problem hiding this comment.
Seems fine to me. The only issue is that rosapi node uses global namespace for all its services, so spawning multiple rosapi nodes in different namespaces creates a collision in service names.
roslibjs has a similar issue where it uses global namespace for service clients:
https://github.com/search?q=repo%3ARobotWebTools%2Froslibjs%20rosapi&type=code
Unless fixed in both projects, it won't work properly.
Added parameters in the launch file to set a namespace and node respawn.
ros2 launch rosbridge_server rosbridge_websocket_launch.xml namespace:="ROBOT" respawn:=trueThis allow multiple robot to host their own bridge on the same network.
The respawn allows the Node to restart if it crashes. We had some issue with the ROSAPI node crashing when trying to access "dead" node information or node with empty names.