rosbridge_suite/rosbridge_server/launch/rosbridge_websocket_launch.xml at 2abd30c5a995b085bdda740771ae60aafb55ddaa · RobotWebTools/rosbridge_suite · GitHub

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<launch>
  <arg name="port" default="9090" />
  <arg name="address" default="" />
  <arg name="url_path" default="/" />
  <arg name="ssl" default="false" />
  <arg name="certfile" default=""/>
  <arg name="keyfile" default="" />

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

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

  <arg name="fragment_timeout" default="600" />
  <arg name="delay_between_messages" default="0" />
  <arg name="max_message_size" default="10000000" />
  <arg name="unregister_timeout" default="10.0" />

  <arg name="use_compression" default="false" />
  <arg name="call_services_in_new_thread" default="true" />
  <arg name="default_call_service_timeout" default="5.0" />
  <arg name="send_action_goals_in_new_thread" default="true" />

  <arg name="topics_glob" default="" />
  <arg name="services_glob" default="" />
  <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="$(var call_services_in_new_thread)"/>
      <param name="default_call_service_timeout" value="$(var default_call_service_timeout)"/>
      <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>

  <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)"/>
  </node>
</launch>