Fix websocket handshake for ROS Noetic

[Tezozomoc47]

I added a ClientConfigurator implementation to the ClientEndpoint annotation of the Ros class.
This Configurator can modify the Http headers before sending or after receiving.
Even only adding this component made the "Origin" header compatible to rosbridge.

[aslakjo]

I have seen the issue of failing hadshake similar to RobotWebTools/rosbridge_suite#508 However we are useing Melodic.

Also tested with this pull request and verified that it fixes our issues. Hope it can be merged in 👍

[kavikode]

In ROS Noetic, I'm having this same issue and I set websocket_external_port = 20003

Still I get the same issue as follows:

2022-03-21 06:25:23-0400 [-] failing WebSocket opening handshake ('port 9090 in HTTP Host header 'localhost:9090' does not match server listening port 20003')
2022-03-21 06:25:23-0400 [-] dropping connection to peer tcp4:127.0.0.1:43906 with abort=False: port 9090 in HTTP Host header 'localhost:9090' does not match server listening port 20003

How do I fix this issue? Thanks in advance.

[aslakjo]

From what we saw, the jrosbridge has an error in its use of websockets this pull request implements a fix for this. This in turn fixes the handshake. We did not need to use the external port only this pull request.

[kavikode]

Thank you. @aslakjo can you please explain how to do a pull request to fix this error as I am new?

Also, how do I update the launch file?

I really appreciate your response.

[aslakjo]

We did bump the version number and performed a local build and pushed it to our local artifactory. However i am hoping for a merge so that we can skip the local artifactory and rely on a build through maven central. This must be done by @rctoris

[kavikode]

Thanks for letting me know and I will be awaiting your response.

[aslakjo]

I still hope we can have a updated version with this PR @rctoris