Merge branch 'ros2' of https://github.com/FlorianLebecque/rosbridge_s…

…uite into ros2
RobotWebTools · Nov 28, 2024 · 61a2413 · 61a2413
2 parents b850982 + d99d8ee
commit 61a2413
Showing 1 changed file with 22 additions and 20 deletions.
diff --git a/rosbridge_server/launch/rosbridge_websocket_launch.xml b/rosbridge_server/launch/rosbridge_websocket_launch.xml
@@ -1,30 +1,32 @@
 <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="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="ws" />
+    <arg name="namespace" default="ws" />
 
-  <arg name="retry_startup_delay" default="5.0" />
+    <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="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="false" />
-  <arg name="send_action_goals_in_new_thread" default="false" />
+    <arg name="use_compression" default="false" />
+    <arg name="call_services_in_new_thread" default="false" />
+    <arg name="send_action_goals_in_new_thread" default="false" />
 
-  <arg name="topics_glob" default="" />
-  <arg name="services_glob" default="" />
-  <arg name="params_glob" default="" />
-  <arg name="bson_only_mode" default="false" />
+    <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 name="respawn" default="false"/>
+
+    <arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>
 
   <arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>