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rosbridge_websocket.launch
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<launch>
<arg name="port" default="9090" />
<arg name="address" default="0.0.0.0" />
<arg name="ssl" default="false" />
<arg name="certfile" default=""/>
<arg name="keyfile" default="" />
<arg name="retry_startup_delay" default="5" />
<arg name="fragment_timeout" default="600" />
<arg name="delay_between_messages" default="0" />
<arg name="max_message_size" default="None" />
<arg name="unregister_timeout" default="10000" />
<arg name="websocket_external_port" default="None" />
<arg name="use_compression" default="false" />
<arg name="authenticate" default="false" />
<arg name="websocket_ping_interval" default="0" />
<arg name="websocket_ping_timeout" default="30" />
<arg name="websocket_null_origin" default="true" />
<arg name="topics_glob" default="[*]" />
<arg name="services_glob" default="[*]" />
<arg name="params_glob" default="[*]" />
<arg name="bson_only_mode" default="false" />
<!-- Output: screen, log -->
<arg name="output" default="screen" />
<!-- Valid options for binary_encoder are "default", "b64" and "bson". -->
<arg unless="$(arg bson_only_mode)" name="binary_encoder" default="default"/>
<group if="$(arg ssl)">
<node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="$(arg output)">
<param name="certfile" value="$(arg certfile)" />
<param name="keyfile" value="$(arg keyfile)" />
<param name="authenticate" value="$(arg authenticate)" />
<param name="port" value="$(arg port)"/>
<param name="address" value="$(arg address)"/>
<param name="retry_startup_delay" value="$(arg retry_startup_delay)"/>
<param name="fragment_timeout" value="$(arg fragment_timeout)"/>
<param name="delay_between_messages" value="$(arg delay_between_messages)"/>
<param name="max_message_size" value="$(arg max_message_size)"/>
<param name="unregister_timeout" value="$(arg unregister_timeout)"/>
<param name="use_compression" value="$(arg use_compression)"/>
<param name="websocket_ping_interval" value="$(arg websocket_ping_interval)" />
<param name="websocket_ping_timeout" value="$(arg websocket_ping_timeout)" />
<param name="websocket_external_port" value="$(arg websocket_external_port)" />
<param name="websocket_null_origin" value="$(arg websocket_null_origin)" />
<param name="topics_glob" value="$(arg topics_glob)"/>
<param name="services_glob" value="$(arg services_glob)"/>
<param name="params_glob" value="$(arg params_glob)"/>
</node>
</group>
<group unless="$(arg ssl)">
<node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="$(arg output)">
<param name="authenticate" value="$(arg authenticate)" />
<param name="port" value="$(arg port)"/>
<param name="address" value="$(arg address)"/>
<param name="retry_startup_delay" value="$(arg retry_startup_delay)"/>
<param name="fragment_timeout" value="$(arg fragment_timeout)"/>
<param name="delay_between_messages" value="$(arg delay_between_messages)"/>
<param name="max_message_size" value="$(arg max_message_size)"/>
<param name="unregister_timeout" value="$(arg unregister_timeout)"/>
<param name="use_compression" value="$(arg use_compression)"/>
<param name="websocket_ping_interval" value="$(arg websocket_ping_interval)" />
<param name="websocket_ping_timeout" value="$(arg websocket_ping_timeout)" />
<param name="websocket_external_port" value="$(arg websocket_external_port)" />
<param name="topics_glob" value="$(arg topics_glob)"/>
<param name="services_glob" value="$(arg services_glob)"/>
<param name="params_glob" value="$(arg params_glob)"/>
<param name="bson_only_mode" value="$(arg bson_only_mode)"/>
</node>
</group>
<node name="rosapi" pkg="rosapi" type="rosapi_node" output="$(arg output)">
<param name="topics_glob" value="$(arg topics_glob)"/>
<param name="services_glob" value="$(arg services_glob)"/>
<param name="params_glob" value="$(arg params_glob)"/>
</node>
</launch>