From 69ef23a444f0f6aa51f3f6ac86af2754ec320139 Mon Sep 17 00:00:00 2001
From: Charly Wu <charlywu@medinno.com>
Date: Wed, 2 Jul 2025 04:44:00 +0800
Subject: [PATCH 1/2] make output configurable

Signed-off-by: Charly Wu <charlywu@medinno.com>
---
 .../launch/rosbridge_websocket_launch.xml     | 84 ++++++++++---------
 1 file changed, 44 insertions(+), 40 deletions(-)

diff --git a/rosbridge_server/launch/rosbridge_websocket_launch.xml b/rosbridge_server/launch/rosbridge_websocket_launch.xml
index 0b3e8868d..8670c5499 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="retry_startup_delay" default="5.0" />
@@ -24,57 +24,61 @@
   <arg name="params_timeout" default="5.0" />
   <arg name="bson_only_mode" 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="$(var ssl)">
-    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
+    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket"
+      output="$(var output)">
       <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="$(var ssl)">
-    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
-      <param name="port" value="$(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="$(var send_action_goals_in_new_thread)"/>
+    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket"
+      output="$(var output)">
+      <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" pkg="rosapi" exec="rosapi_node">
-    <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)"/>
+    <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 759b2cffb1c0f69edb48182f8d01a0c0ecfaf9b0 Mon Sep 17 00:00:00 2001
From: Charly Wu <charlywu@medinno.com>
Date: Wed, 23 Jul 2025 15:48:52 +0800
Subject: [PATCH 2/2] fix xml formatting

Signed-off-by: Charly Wu <charlywu@medinno.com>
---
 rosbridge_server/launch/rosbridge_websocket_launch.xml | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/rosbridge_server/launch/rosbridge_websocket_launch.xml b/rosbridge_server/launch/rosbridge_websocket_launch.xml
index 8670c5499..8734ebd72 100644
--- a/rosbridge_server/launch/rosbridge_websocket_launch.xml
+++ b/rosbridge_server/launch/rosbridge_websocket_launch.xml
@@ -29,8 +29,7 @@
   <arg unless="$(var bson_only_mode)" name="binary_encoder" default="default" />
 
   <group if="$(var ssl)">
-    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket"
-      output="$(var output)">
+    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="$(var output)">
       <param name="certfile" value="$(var certfile)" />
       <param name="keyfile" value="$(var keyfile)" />
       <param name="port" value="$(var port)" />
@@ -52,8 +51,7 @@
     </node>
   </group>
   <group unless="$(var ssl)">
-    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket"
-      output="$(var output)">
+    <node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="$(var output)">
       <param name="port" value="$(var port)" />
       <param name="address" value="$(var address)" />
       <param name="url_path" value="$(var url_path)" />
@@ -81,4 +79,4 @@
     <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>