From 460d202f2b4a054d4e7c77dd7dcf05c0d59648e9 Mon Sep 17 00:00:00 2001
From: Lebecque Florian <Florianlebecque@hotmail.com>
Date: Thu, 28 Nov 2024 22:28:56 +0100
Subject: [PATCH] Add namespace and respawn parameters to the nodes in the
 launch file (#977)
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Fix indentation

Fix indentation

Update rosbridge_server/launch/rosbridge_websocket_launch.xml

Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
---
 .../launch/rosbridge_websocket_launch.xml             | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/rosbridge_server/launch/rosbridge_websocket_launch.xml b/rosbridge_server/launch/rosbridge_websocket_launch.xml
index e4ed0b33..389b2ff1 100644
--- a/rosbridge_server/launch/rosbridge_websocket_launch.xml
+++ b/rosbridge_server/launch/rosbridge_websocket_launch.xml
@@ -6,6 +6,8 @@
   <arg name="certfile" default=""/>
   <arg name="keyfile" default="" />
 
+  <arg name="namespace" default="" />
+
   <arg name="retry_startup_delay" default="5.0" />
 
   <arg name="fragment_timeout" default="600" />
@@ -22,10 +24,12 @@
   <arg name="params_glob" default="" />
   <arg name="bson_only_mode" default="false" />
 
+  <arg name="respawn" default="false"/>
+
   <arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>
 
   <group if="$(var ssl)">
-    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
+    <node name="rosbridge_websocket" namespace="$(var namespace)" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen" respawn="$(var respawn)" >
       <param name="certfile" value="$(var certfile)" />
       <param name="keyfile" value="$(var keyfile)" />
       <param name="port" value="$(var port)"/>
@@ -45,8 +49,9 @@
       <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">
+    <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)"/>
@@ -67,7 +72,7 @@
     </node>
   </group>
 
-  <node name="rosapi" pkg="rosapi" exec="rosapi_node">
+  <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)"/>