rosbridge_websocket.launch

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最新推荐文章于 2025-06-19 17:43:02 发布

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分类专栏：技术总结 # 工具配置文章标签： ros rpi

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这是一个ROS系统的launch文件配置，用于启动ROSBridge WebSocket服务器。根据参数设置，服务器可以启用SSL认证，指定端口、地址、重试启动延迟、消息分片超时和最大消息大小等。同时，它还包含了一个加载Arduino节点的配置，该节点从配置文件中加载参数。此外，文件中注释掉了rosapi节点的启动。此配置用于连接ROS系统与外部设备或应用进行数据交互。

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

  <arg name="retry_startup_delay" default="1" />

  <arg name="fragment_timeout" default="600" />
  <arg name="delay_between_messages" default="0" />
  <arg name="max_message_size" default="None" />

  <arg name="authenticate" default="false" />

  <arg name="topics_glob" default="[]" />
  <arg name="services_glob" default="[]" />
  <arg name="params_glob" default="[]" />

  <group if="$(arg ssl)">
    <node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="screen">
      <param name="certfile" value="$(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="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="screen">
      <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="topics_glob" value="$(arg topics_glob)"/>
      <param name="services_glob" value="$(arg services_glob)"/>
      <param name="params_glob" value="$(arg params_glob)"/>
    </node>
  </group>


  <node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
      <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
  </node>
  
  
  <!--node name="rosapi" pkg="rosapi" type="rosapi_node">
    <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>