rosbridge_websocket.py

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#!/usr/bin/env python
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import rospy
import sys

from socket import error

from tornado.ioloop import IOLoop
from tornado.ioloop import PeriodicCallback
from tornado.web import Application

from rosbridge_server import RosbridgeWebSocket


def shutdown_hook():
    IOLoop.instance().stop()

if __name__ == "__main__":
    rospy.init_node("rosbridge_websocket")
    rospy.on_shutdown(shutdown_hook)    # register shutdown hook to stop the server

    # SSL options
    certfile = rospy.get_param('~certfile', None)
    keyfile = rospy.get_param('~keyfile', None)
    # if authentication should be used
    RosbridgeWebSocket.authenticate = rospy.get_param('~authenticate', False)
    port = rospy.get_param('~port', 9090)
    address = rospy.get_param('~address', "")

    if "--port" in sys.argv:
        idx = sys.argv.index("--port")+1
        if idx < len(sys.argv):
            port = int(sys.argv[idx])
        else:
            print "--port argument provided without a value."
            sys.exit(-1)

    application = Application([(r"/", RosbridgeWebSocket), (r"", RosbridgeWebSocket)])

    connected = False
    while(not connected):
        try:
            if certfile is not None and keyfile is not None:
                application.listen(port, address, ssl_options={ "certfile": certfile, "keyfile": keyfile})
            else:
                application.listen(port, address)
            rospy.loginfo("Rosbridge WebSocket server started on port %d", port)
            connected = True
        except error as e:
            rospy.logwarn("Unable to start server: " + str(e) + " Retrying in 2s.")
            rospy.sleep(2.)

    IOLoop.instance().start()