74 lines
3.5 KiB
XML
74 lines
3.5 KiB
XML
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<launch>
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<arg name="port" default="9090" />
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<arg name="address" default="" />
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<arg name="ssl" default="false" />
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<arg name="certfile" default=""/>
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<arg name="keyfile" default="" />
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<arg name="retry_startup_delay" default="5.0" />
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<arg name="fragment_timeout" default="600" />
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<arg name="delay_between_messages" default="0" />
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<arg name="max_message_size" default="10000000" />
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<arg name="unregister_timeout" default="10.0" />
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<arg name="use_compression" default="false" />
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<arg name="call_services_in_new_thread" default="false" />
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<arg name="topics_glob" default="" />
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<arg name="services_glob" default="" />
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<arg name="params_glob" default="" />
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<arg name="bson_only_mode" default="false" />
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<arg name="pioneer_id" default="0" />
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<arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>
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<group if="$(var ssl)">
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<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
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<param name="certfile" value="$(var certfile)" />
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<param name="keyfile" value="$(var keyfile)" />
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<param name="port" value="$(var port)"/>
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<param name="address" value="$(var address)"/>
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<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
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<param name="fragment_timeout" value="$(var fragment_timeout)"/>
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<param name="delay_between_messages" value="$(var delay_between_messages)"/>
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<param name="max_message_size" value="$(var max_message_size)"/>
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<param name="unregister_timeout" value="$(var unregister_timeout)"/>
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<param name="use_compression" value="$(var use_compression)"/>
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<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
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<param name="topics_glob" value="$(var topics_glob)"/>
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<param name="services_glob" value="$(var services_glob)"/>
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<param name="params_glob" value="$(var params_glob)"/>
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<remap from="/client_count" to="/pioneer$(var pioneer_id)/client_count"/>
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<remap from="/connected_clients" to="/pioneer$(var pioneer_id)/connected_clients"/>
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</node>
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</group>
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<group unless="$(var ssl)">
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<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
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<param name="port" value="$(var port)"/>
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<param name="address" value="$(var address)"/>
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<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
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<param name="fragment_timeout" value="$(var fragment_timeout)"/>
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<param name="delay_between_messages" value="$(var delay_between_messages)"/>
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<param name="max_message_size" value="$(var max_message_size)"/>
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<param name="unregister_timeout" value="$(var unregister_timeout)"/>
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<param name="use_compression" value="$(var use_compression)"/>
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<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
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<param name="topics_glob" value="$(var topics_glob)"/>
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<param name="services_glob" value="$(var services_glob)"/>
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<param name="params_glob" value="$(var params_glob)"/>
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<param name="bson_only_mode" value="$(var bson_only_mode)"/>
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<remap from="/client_count" to="/pioneer$(var pioneer_id)/client_count"/>
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<remap from="/connected_clients" to="/pioneer$(var pioneer_id)/connected_clients"/>
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</node>
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</group>
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<node name="rosapi" pkg="rosapi" exec="rosapi_node">
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<param name="topics_glob" value="$(var topics_glob)"/>
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<param name="services_glob" value="$(var services_glob)"/>
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<param name="params_glob" value="$(var params_glob)"/>
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</node>
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</launch>
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