From a14f6442568f3c4d0c7c84b2bc993849165b960f Mon Sep 17 00:00:00 2001
From: Charly Wu <charlywu@medinno.com>
Date: Wed, 2 Jul 2025 04:25:24 +0800
Subject: [PATCH 1/2] makei output configurable.

Signed-off-by: Charly Wu <charlywu@medinno.com>
---
 .../launch/rosbridge_websocket_launch.xml     | 89 ++++++++++---------
 1 file changed, 47 insertions(+), 42 deletions(-)

diff --git a/rosbridge_server/launch/rosbridge_websocket_launch.xml b/rosbridge_server/launch/rosbridge_websocket_launch.xml
index 6eebf87a4..2a7da9f5c 100644
--- a/rosbridge_server/launch/rosbridge_websocket_launch.xml
+++ b/rosbridge_server/launch/rosbridge_websocket_launch.xml
@@ -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="namespace" default="" />
@@ -26,60 +26,65 @@
   <arg name="params_timeout" default="5.0" />
   <arg name="bson_only_mode" default="false" />
 
-  <arg name="respawn" default="false"/>
+  <arg name="respawn" 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="$(var ssl)">
-    <node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen" respawn="$(var respawn)" >
+    <node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server"
+      exec="rosbridge_websocket" output="$(var output)" respawn="$(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="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="$(var ssl)">
-    <node name="rosbridge_websocket" namespace="$(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="$(var call_services_in_new_thread)"/>
-      <param name="default_call_service_timeout" value="$(var default_call_service_timeout)"/>
-      <param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>
+    <node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server"
+      exec="rosbridge_websocket" output="$(var output)" respawn="$(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="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" 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="$(var params_glob)"/>
-    <param name="params_timeout" value="$(var params_timeout)"/>
+  <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="$(var params_glob)" />
+    <param name="params_timeout" value="$(var params_timeout)" />
   </node>
-</launch>
+</launch>
\ No newline at end of file

From 24c354455045ea80a42eb68ea6709c9acd56fd8d Mon Sep 17 00:00:00 2001
From: Charly Wu <charlywu@medinno.com>
Date: Wed, 23 Jul 2025 15:50:12 +0800
Subject: [PATCH 2/2] fix xml

Signed-off-by: Charly Wu <charlywu@medinno.com>
---
 .../launch/rosbridge_websocket_launch.xml             | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/rosbridge_server/launch/rosbridge_websocket_launch.xml b/rosbridge_server/launch/rosbridge_websocket_launch.xml
index 2a7da9f5c..c913cca67 100644
--- a/rosbridge_server/launch/rosbridge_websocket_launch.xml
+++ b/rosbridge_server/launch/rosbridge_websocket_launch.xml
@@ -33,8 +33,7 @@
   <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="$(var output)" respawn="$(var respawn)">
+    <node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server" exec="rosbridge_websocket" output="$(var output)" respawn="$(var respawn)">
       <param name="certfile" value="$(var certfile)" />
       <param name="keyfile" value="$(var keyfile)" />
       <param name="port" value="$(var port)" />
@@ -57,8 +56,7 @@
   </group>
 
   <group unless="$(var ssl)">
-    <node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server"
-      exec="rosbridge_websocket" output="$(var output)" respawn="$(var respawn)">
+    <node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server" exec="rosbridge_websocket" output="$(var output)" respawn="$(var respawn)">
       <param name="port" value="$(var port)" />
       <param name="address" value="$(var address)" />
       <param name="url_path" value="$(var url_path)" />
@@ -80,11 +78,10 @@
     </node>
   </group>
 
-  <node name="rosapi" namespace="$(var namespace)" pkg="rosapi" exec="rosapi_node"
-    respawn="$(var respawn)">
+  <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="$(var params_glob)" />
     <param name="params_timeout" value="$(var params_timeout)" />
   </node>
-</launch>
\ No newline at end of file
+</launch>