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expose service_type_retrieval_timeout_ms to launch file / readme
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@achim-k
achim-k committed Sep 8, 2023
1 parent 7af253d commit c350a8d
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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -79,6 +79,7 @@ Parameters are provided to configure the behavior of the bridge. These parameter
* __capabilities__: List of supported [server capabilities](https://github.com/foxglove/ws-protocol/blob/main/docs/spec.md). Defaults to `[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]`.
* __asset_uri_allowlist__: List of regular expressions ([ECMAScript grammar](https://en.cppreference.com/w/cpp/regex/ecmascript)) of allowed asset URIs. Uses the [resource_retriever](https://index.ros.org/p/resource_retriever/github-ros-resource_retriever) to resolve `package://`, `file://` or `http(s)://` URIs. Note that this list should be carefully configured such that no confidential files are accidentally exposed over the websocket connection. As an extra security measure, URIs containing two consecutive dots (`..`) are disallowed as they could be used to construct URIs that would allow retrieval of confidential files if the allowlist is not configured strict enough (e.g. `package://<pkg_name>/../../../secret.txt`). Defaults to `["package://(\w+/?)+\.(dae|stl|urdf|xacro)"]`.
* (ROS 1) __max_update_ms__: The maximum number of milliseconds to wait in between polling `roscore` for new topics, services, or parameters. Defaults to `5000`.
* (ROS 1) __service_type_retrieval_timeout_ms__: Max number of milliseconds for retrieving a services type information. Defaults to `250`.
* (ROS 2) __num_threads__: The number of threads to use for the ROS node executor. This controls the number of subscriptions that can be processed in parallel. 0 means one thread per CPU core. Defaults to `0`.
* (ROS 2) __min_qos_depth__: Minimum depth used for the QoS profile of subscriptions. Defaults to `1`. This is to set a lower limit for a subscriber's QoS depth which is computed by summing up depths of all publishers. See also [#208](https://github.com/foxglove/ros-foxglove-bridge/issues/208).
* (ROS 2) __max_qos_depth__: Maximum depth used for the QoS profile of subscriptions. Defaults to `25`.
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46 changes: 24 additions & 22 deletions ros1_foxglove_bridge/launch/foxglove_bridge.launch
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@@ -1,19 +1,20 @@
<launch>
<arg name="port" default="8765" />
<arg name="address" default="0.0.0.0" />
<arg name="tls" default="false" />
<arg name="certfile" default="" />
<arg name="keyfile" default="" />
<arg name="topic_whitelist" default="['.*']" />
<arg name="param_whitelist" default="['.*']" />
<arg name="service_whitelist" default="['.*']" />
<arg name="client_topic_whitelist" default="['.*']" />
<arg name="max_update_ms" default="5000" />
<arg name="send_buffer_limit" default="10000000" />
<arg name="nodelet_manager" default="foxglove_nodelet_manager" />
<arg name="num_threads" default="0" />
<arg name="capabilities" default="[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]" />
<arg name="asset_uri_allowlist" default="['package://(/?\w+)+\.(dae|stl|urdf|xacro)']" />
<arg name="port" default="8765" />
<arg name="address" default="0.0.0.0" />
<arg name="tls" default="false" />
<arg name="certfile" default="" />
<arg name="keyfile" default="" />
<arg name="topic_whitelist" default="['.*']" />
<arg name="param_whitelist" default="['.*']" />
<arg name="service_whitelist" default="['.*']" />
<arg name="client_topic_whitelist" default="['.*']" />
<arg name="max_update_ms" default="5000" />
<arg name="send_buffer_limit" default="10000000" />
<arg name="nodelet_manager" default="foxglove_nodelet_manager" />
<arg name="num_threads" default="0" />
<arg name="capabilities" default="[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]" />
<arg name="asset_uri_allowlist" default="['package://(/?\w+)+\.(dae|stl|urdf|xacro)']" />
<arg name="service_type_retrieval_timeout_ms" default="250" />

<node pkg="nodelet" type="nodelet" name="foxglove_nodelet_manager" args="manager"
if="$(eval nodelet_manager == 'foxglove_nodelet_manager')">
Expand All @@ -22,13 +23,14 @@

<node pkg="nodelet" type="nodelet" name="foxglove_bridge"
args="load foxglove_bridge/foxglove_bridge_nodelet $(arg nodelet_manager)">
<param name="port" type="int" value="$(arg port)" />
<param name="address" type="string" value="$(arg address)" />
<param name="tls" type="bool" value="$(arg tls)" />
<param name="certfile" type="string" value="$(arg certfile)" />
<param name="keyfile" type="string" value="$(arg keyfile)" />
<param name="max_update_ms" type="int" value="$(arg max_update_ms)" />
<param name="send_buffer_limit" type="int" value="$(arg send_buffer_limit)" />
<param name="port" type="int" value="$(arg port)" />
<param name="address" type="string" value="$(arg address)" />
<param name="tls" type="bool" value="$(arg tls)" />
<param name="certfile" type="string" value="$(arg certfile)" />
<param name="keyfile" type="string" value="$(arg keyfile)" />
<param name="max_update_ms" type="int" value="$(arg max_update_ms)" />
<param name="send_buffer_limit" type="int" value="$(arg send_buffer_limit)" />
<param name="service_type_retrieval_timeout_ms" type="int" value="$(arg service_type_retrieval_timeout_ms)" />

<rosparam param="topic_whitelist" subst_value="True">$(arg topic_whitelist)</rosparam>
<rosparam param="param_whitelist" subst_value="True">$(arg param_whitelist)</rosparam>
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