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make output configurable #1050

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make output configurable #1050

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69ef23a
make output configurable
cwrx777 Jul 1, 2025
759b2cf
fix xml formatting
cwrx777 Jul 23, 2025
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80 changes: 41 additions & 39 deletions rosbridge_server/launch/rosbridge_websocket_launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="address" default="" />
<arg name="url_path" default="/" />
<arg name="ssl" default="false" />
<arg name="certfile" default=""/>
<arg name="certfile" default="" />
<arg name="keyfile" default="" />

<arg name="retry_startup_delay" default="5.0" />
Expand All @@ -24,57 +24,59 @@
<arg name="params_timeout" default="5.0" />
<arg name="bson_only_mode" default="false" />

<arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>
<arg name="output" default="screen" />

<arg unless="$(var bson_only_mode)" name="binary_encoder" default="default" />

<group if="$(var ssl)">
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="$(var output)">
<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="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="$(var params_glob)"/>
<param name="topics_glob" value="$(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="$(var call_services_in_new_thread)"/>
<param name="default_call_service_timeout" value="$(var default_call_service_timeout)"/>
<param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="$(var output)">
<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="$(var params_glob)"/>
<param name="topics_glob" value="$(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="$(var bson_only_mode)"/>
<param name="bson_only_mode" value="$(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="$(var params_glob)"/>
<param name="params_timeout" value="$(var params_timeout)"/>
<param name="topics_glob" value="$(var topics_glob)" />
<param name="services_glob" value="$(var services_glob)" />
<param name="params_glob" value="$(var params_glob)" />
<param name="params_timeout" value="$(var params_timeout)" />
</node>
</launch>