Add rosbridge websocket

diff --git a/docker/Dockerfile b/docker/Dockerfile
index b2e4b017eef402f4f6fc20f421a9e1023351b1da..466b63add6105527113f2b745248d9cd47cb30a3 100644 (file)
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -4,4 +4,4 @@ RUN apt-get update && \
         apt-get install -y ros-jazzy-rplidar-ros less libi2c-dev ros-jazzy-robot-localization \
        ros-jazzy-slam-toolbox ros-jazzy-navigation2 ros-jazzy-nav2-bringup \
        ros-jazzy-demo-nodes-cpp ros-jazzy-teleop-twist-keyboard ros-jazzy-gpsd-client libgdal-dev ros-jazzy-teleop-twist-joy ros-jazzy-twist-mux ros-jazzy-gpsd-client \
-       ros-jazzy-slam-toolbox ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-rplidar-ros
+       ros-jazzy-slam-toolbox ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-rplidar-ros ros-jazzy-rosbridge-suite

diff --git a/launch/a4wd3_launch.py b/launch/a4wd3_launch.py
index 3e257dd72661ae48f89cfa1ba9c5b3fa08e5c52e..ae7c96f23cdcea138251efb29b7d26a7d802a7e2 100644 (file)
--- a/launch/a4wd3_launch.py
+++ b/launch/a4wd3_launch.py
@@ -4,6 +4,7 @@
 import os
 from ament_index_python.packages import get_package_share_directory
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, EmitEvent, RegisterEventHandler, LogInfo
 from launch.events import matches_action
@@ -58,7 +59,7 @@ def generate_launch_description():
             package='bno085_uart',
             executable='bno085',
             name='bno085',
-           parameters=[{"port": "/dev/ttyS2", "hz": 20.0}],
+           parameters=[{"port": "/dev/ttyS2"}],
            output="screen",
         ),
         Node(
@@ -138,4 +139,7 @@ def generate_launch_description():
            }.items(),
             condition=IfCondition(with_nav),
        ),
+       IncludeLaunchDescription(
+           XMLLaunchDescriptionSource([os.path.join(get_package_share_directory('rosbridge_server'), 'launch'),'/rosbridge_websocket_launch.xml'])
+       ),
     ])