From: Erik Andresen <erik@vontaene.de>
Date: Thu, 14 May 2026 05:57:09 +0000 (+0200)
Subject: Add rosbridge websocket
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=8bfbff6e302745193944450dc3a6913087eb8bb0;p=a4wd3.git

Add rosbridge websocket
---

diff --git a/docker/Dockerfile b/docker/Dockerfile
index b2e4b01..466b63a 100644
--- 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 3e257dd..ae7c96f 100644
--- 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'])
+	),
     ])