CHANGELOG
Changelog for package rosbridge_server
2.1.0 (2024-10-08)
2.0.0 (2024-10-08)
Fix action cancellation by passing status from JSON (#953)
Update pre-commit and fix issues (#954)
rosbridge_websocket: Stop websocket server if ROS shuts down (#946)
Support actions in rosbridge protocol (#886)
Port unit tests to ROS 2 + Fix CBOR conversion and PNG compression (#882)
Contributors: Brad Martin, Sebastian Castro
1.3.2 (2023-09-27)
Add option to call services in a separate thread (#847)
Contributors: Sebastian Castro
1.3.1 (2022-10-21)
Fix exceptions not being handled correctly. (#817)
Skip unnecessary conversion for cbor/cbor-raw compression (#792) (#800)
Improve robustness for multiple client connections (#803)
Minor performance improvements (#809)
Fix hostname parameter is no longer converted as an int value (#780)
Fix duplicate subscription created with wrong ‘raw’ attribute. (#798)
Add graceful shutdown (#794)
Contributors: Hans-Joachim Krauch, Hugo Perier, Steffen Nattke
1.3.0 (2022-08-16)
Add url_path config option (#709)
Contributors: Matthijs van der Burgh, Sirawat S
1.2.0 (2022-05-20)
1.1.2 (2022-01-03)
[694] update DurabilityPolicy api that are being deprecated (#695)
Contributors: Evan Flynn
1.1.1 (2021-12-09)
Allow subscribing to any qos profile when creating a subscriber (#690)
Fix and add test for multiple subscribers to same topic (#687)
Delete unsupported TCP and UDP server implementations in ROS 2 branch (#685)
Fix error when advertising duplicate service (#683)
Fix incoming service calls (#669)
Replace busy wait in AdvertiseService with async handler (#666)
Refactor smoke test to make WebSocket test harness reusable (#675)
Contributors: Domenic Rodriguez, Jacob Bandes-Storch, Roman Shtylman
1.1.0 (2021-10-22)
Exit cleanly on SIGINT; remove sleep in test (#667)
Fix unused variables: flake8 –select=F841 (#623)
Fix undefined name in rosbridge_websocket (#659)
Add pre-commit, format with black and isort (#648)
Contributors: Adrian Macneil, Christian Clauss, Domenic Rodriguez, Jacob Bandes-Storch, Kenji Miyake
1.0.8 (2021-08-26)
Add missing test_depends and buildtool_depends
Fix various Python code style and lint issues
Contributors: Christian Clauss, Jacob Bandes-Storch
1.0.7 (2021-08-18)
Fix typos discovered by codespell (#600)
Contributors: Christian Clauss
1.0.6 (2021-08-17)
Fix broken links in changelogs
Contributors: Jacob Bandes-Storch
1.0.5 (2021-08-12)
Fix globs in launch xml for ROS 2 pre-Galactic (#589)
Remove authentication features and rosauth dependency (#586) [rosauth](http://wiki.ros.org/rosauth) is not maintained for ROS 2, and has not been released for Galactic (https://github.com/GT-RAIL/rosauth/issues/35). Since the authentication feature is old and not commonly used, and since rosbridge_suite has not yet been released in Eloquent, Foxy, or Galactic, we decided to just remove the authentication features to unblock us from pushing releases. To avoid breaking backwards compatibility, we will not publish the new version of rosbridge_suite for Dashing.
The server now allows choosing port:=0 to select an ephemeral port, and sets the port number in the actual_port ROS param. (#585)
Contributors: Jacob Bandes-Storch
1.0.4 (2021-08-11)
1.0.3 (2021-08-03)
Add cbor-raw compression support (#574, adapted from ROS 1 implementation #452)
Adaptations to Eloquent [Again] (#533) * increase spin period to 1000Hz to allow 1000 messages per second into the websocket * allow interpreting int as float when needed * better handling array.array and numpy arrays * allow bytes and str websocket messages * add boolean type * handle type extraction of static array rostypes * missing cls variable Co-authored-by: Maximilian Matthe <maxi.matthe@googlemail.com> Co-authored-by: CoRoLa generic <corola@bi> Co-authored-by: joshwapohlmann <joshwa.pohlmann@barkhauseninstitut.org>
Contributors: Jacob Bandes-Storch, travipross
1.0.2 (2019-09-24)
use Python 3 dependency keys (#436)
1.0.1 (2019-09-20)
1.0.0 (2019-09-19)
Port to ROS 2
0.11.3 (2019-08-07)
0.11.2 (2019-07-08)
0.11.1 (2019-05-08)
0.11.0 (2019-03-29)
Additional client information websocket (#393) * Add package rosbridge_msgs. * rosbridge_server: Publish additional information about connected clients. * rosbridge_server: Make ClientManager’s add_client/remove_client methods thread safe. * rosbridge_server: Rm unnecessary publishing. * rosbridge_msgs: Cleanup/fix dependencies.
Handle BadYieldError in Tornado <4.5.0 (#395)
Contributors: Hans-Joachim Krauch, Matt Vollrath
0.10.2 (2019-03-04)
Log Tornado handler exceptions (#386) * Decorate most handlers which were previously failing silently. * Use a try block in the @coroutine, it refused double decoration. * Always raise after logging, so Tornado sees the Exception too. * Only warn when racing to write to a closed WebSocket.
Contributors: Matt Vollrath
0.10.1 (2018-12-16)
0.10.0 (2018-12-14)
CBOR encoding (#364) * Add CBOR encoding * Fix value extraction performance regression Extract message values once per message. * Fix typed array tags Was using big-endian tags and encoding little-endian. Always use little-endian for now since Intel is prevalent for desktop. Add some comments to this effect. * Update CBOR protocol documentation More information about draft typed arrays and when to use CBOR. * Fix 64-bit integer CBOR packing Use an actual 64-bit format.
Add param to enable ws per-message deflate (#365) * Add param to enable ws per-message deflate Tornado has its own per-message deflate compression option, which compresses each WebSocket message. The compression level should be roughly equivalent to PNG compression, depending on whether the message is JSON or binary (CBOR). The encoding/decoding time will be much faster than protocol PNG compression. This param should be enabled when wire size is important, e.g. not connecting to localhost.
rosbridge_server: Publish number of connected clients on latched topic. (#359)
Fix a few problems (#350) * xrange is not available in Python3, range works for both Python versions * the variable v is undefined in search_param, comparing the implementation with the sibling functions I expect name to be the intended variable * The module udp_handler is using the Authentication service but wasn’t importing the module
use package format 2, remove unnecessary dependencies (#348)
Adding bson support for websockets (#327) * removed message that bson isn’t supported. setting the bson only mode class attribute * added auth package inspection for bson only mode
Contributors: Dirk Thomas, Hans-Joachim Krauch, Matt Vollrath, Sanic
0.9.0 (2018-04-09)
Make unregister_timeout configurable (#322) Pull request #247 introduces a 10 second delay to mitigate issue #138. This change makes this delay configurable by passing an argument either on the command line or when including a launch file. Usage example:
`xml <launch> <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"> <arg name="unregister_timeout" value="5.0"/> </include> </launch> `Closes #320Remove tornado fork from source code and add python-tornado as run dependency (#317) Release only for kinetic+
Fix bug that lost data while sending large packets (#310) * fix bug that lost data while sending large packets
Contributors: Jørgen Borgesen, MBlistein, WH-0501
0.8.6 (2017-12-08)
0.8.5 (2017-11-23)
Raise if inappropriate bson module is installed (Appease #198) (#270) * Raise Exception if inappropriate bson module is installed (Related to #198)
Add Python3 compatibility (#300) * First pass at Python 3 compatibility * message_conversion: Only call encode on a Python2 str or bytes type * protocol.py: Changes for dict in Python3. Compatible with Python 2 too. * More Python 3 fixes, all tests pass * Move definition of string_types to rosbridge_library.util
Contributors: Junya Hayashi, Kartik Mohta
0.8.4 (2017-10-16)
0.8.3 (2017-09-11)
0.8.2 (2017-09-11)
0.8.1 (2017-08-30)
0.8.0 (2017-08-30)
Merge pull request #281 from RobotWebTools/expose_b64 expose binary_encoder rosparam that was hidden in deep depth
address review comment. more explicitly describe valid args
correct the possible argument
expose binary_encoder rosparam that was hidden in deep depth
Merge pull request #277 from T045T/remove_nodelay_for_udp don’t try to set TCP nodelay option for UDP
don’t try to set TCP nodelay option for UDP
Merge pull request #273 from Sanic/set_bson_only_flags Set default for bson_only_mode in websocket handler and launch file.
Set default for bson_only_mode in websocket handler and launch file.
Merge pull request #257 from Sanic/bson-only-mode Implemented a bson_only_mode flag for the TCP version of rosbridge
Implemented a bson_only_mode flag for the TCP version of rosbridge; This allows you to switch to a full-duplex transmission of BSON messages and therefore eliminates the need for a base64 encoding of binary data; Use the new mode by starting:’roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True’ or passing ‘–bson_only_mode’ to the rosbridge_tcp.py script
Contributors: Adolfo Rodriguez Tsouroukdissian, Jihoon Lee, Nils Berg, Patrick Mania, pmania
0.7.17 (2017-01-25)
Fixed the launch files for the tcp and udp service. Without these modifications, the rosapi node fails because some rosparams are not defined properly before. Now the launchfiles comply to the websocket version.
Added default topics to all launch files, and fixed bug where it would crash if nothing was put into the lists as values
Fix: Set default to publish all topics Without better doc, one does not understand why no topics are published. I thought, something is broken. With this defaults, everything is working out of the box. And for a more secure setup, one can change it.
correct default values for security globs also accept empty list as the default “do not check globs” value in addition to None. Finally, append rosapi service glob after processing command line input so it’s not overwritten
add missing imports and correct default values for glob parameters
Added services_glob to CallServices, added globs to rosbridge_tcp and rosbridge_udp, and other miscellaneous fixes.
Two minor fixes.
Added new parameters for topic and service security. Added 3 new parameters to rosapi and rosbridge_server which filter the topics, services, and parameters broadcast by the server to match an array of glob strings.
Contributors: Devon Ash, Eric, Nils Berg, Patrick Mania, plieningerweb
0.7.16 (2016-08-15)
0.7.15 (2016-04-25)
0.7.14 (2016-02-11)
Abort websocket server listen() retry on shutdown This allows the server to shut down via SIGINT or SIGTERM during its listen() retry loop.
rospy.get_param instead of get_param
actually use those parameters
remove reference to retry_startup_delay from rosbridge_udp.launch
clean up parameters and handling * make parameters accessible via parameter server for all three versions * remove old advertise_service parameters * UDP and TCP can’t do SSL * TCP can’t authenticate yet (because the RosbridgeTcpSocket class is instantiated for each request and hence does not hold state) * UDP does not take a hostname or address, but rather an interface
Allow TCP Server to reuse address after restart After killing (Ctrl-C) a rosbridge_tcp server instance which has connected clients, starting a new instance (on the same port) can fail with the error: ‘[Errno 98] Address already in use’. Although the node retries until the server starts, this can take up to a few minutes. Instruct the ThreadingTCPServer to allow the reuse of the same address.
Adding UDP
Contributors: Matt Vollrath, Nils Berg, Victor Savu, XuHao, xuhao1
0.7.13 (2015-08-14)
Add bson encoding to the server side
Add default strings for certfile and keyfile This allows downstream packages with roslaunch_add_file_check tests to pass.
Fix whitespace in RosbridgeTcpHandler
Modularize RosbridgeTcpSocket
Modularize RosbridgeWebSocket
add shutdown handling to rosbridge_tcp and make rosbridge_websocket more robust
Removed space from empty line. Thanks @T045T
Stop IOLoop on shutdown.
Contributors: Benny, David Lu, Matt Vollrath, Nils Berg, Paul Bovbel
0.7.12 (2015-04-07)
0.7.11 (2015-03-23)
rename rosapi script to rosapi_node to address #170
Enabled TCP nodelay in Websocket handler
Contributors: Jihoon Lee, Sebastien Mamessier
0.7.10 (2015-02-25)
0.7.9 (2015-02-24)
0.7.8 (2015-01-16)
Fix path to Tornado speedup extension source
Build Tornado speedups Fixes #135
Contributors: Matt Vollrath
0.7.7 (2015-01-06)
remove rosbridge_tools from dependency #163
reverting back the changes
Contributors: Jihoon Lee
0.7.6 (2014-12-26)
0.7.5
update changelog
Function in robridge_tools for importing tornado
Revert “reverts back to internal tornado until fix is ready” This reverts commit 49eeb1d97da154213d3170c95169b5677b329d07.
0.7.4
changelog updated
reverts back to internal tornado until fix is ready
0.7.3
changelog updated
0.7.2
changelog updated
use alias to import rosbridge_tool tornado
move modules under rosbridge_tools
0.7.1
update changelog
Merge pull request #147 from RobotWebTools/migrate_third_parties separate tornado and backports from rosbridge_server
separate out third party library and ros related script
remove setup.py
add rosbridge_tools as rosbridge_server dependency
remove python-imaging dependency. it is used in rosbridge_library
0.7.0
changelog updated
Contributors: Jihoon Lee, Jon Binney, Russell Toris
0.7.5 (2014-12-26)
Function in robridge_tools for importing tornado
Revert “reverts back to internal tornado until fix is ready” This reverts commit 49eeb1d97da154213d3170c95169b5677b329d07.
Contributors: Jon Binney
0.7.4 (2014-12-16)
reverts back to internal tornado until fix is ready
Contributors: Russell Toris
0.7.3 (2014-12-15)
0.7.2 (2014-12-15)
use alias to import rosbridge_tool tornado
move modules under rosbridge_tools
0.7.1
update changelog
Merge pull request #147 from RobotWebTools/migrate_third_parties separate tornado and backports from rosbridge_server
separate out third party library and ros related script
remove setup.py
add rosbridge_tools as rosbridge_server dependency
remove python-imaging dependency. it is used in rosbridge_library
Contributors: Jihoon Lee, Russell Toris
0.7.1 (2014-12-09)
Merge pull request #147 from RobotWebTools/migrate_third_parties separate tornado and backports from rosbridge_server
separate out third party library and ros related script
remove setup.py
add rosbridge_tools as rosbridge_server dependency
remove python-imaging dependency. it is used in rosbridge_library
Contributors: Jihoon Lee, Russell Toris
0.7.0 (2014-12-02)
0.6.8 (2014-11-05)
0.6.7 (2014-10-22)
updated package manifests
Merge pull request #137 from RobotWebTools/revert Revert “Install Tornado via rosdep”
Revert “Install Tornado via rosdep” This reverts commit 2d8a2fa5d23550427d6957acffc7dfa6f55e9c34.
Contributors: Russell Toris
0.6.6 (2014-10-21)
Install Tornado via rosdep Use python-tornado-pip to make sure we get the speedups introduced in Tornado 3.2.
Contributors: Matt Vollrath
0.6.5 (2014-10-14)
0.6.4
update changelog
add backports to setup.py, so backports.ssl_match_hostname can be properly resolved
0.6.3
update change log
Contributors: Jihoon Lee, Nils Berg
0.6.4 (2014-10-08)
add backports to setup.py, so backports.ssl_match_hostname can be properly resolved
Contributors: Nils Berg
0.6.3 (2014-10-07)
0.6.2 (2014-10-06)
Merge pull request #125 from megawac/json Remove unused imports; move json imports to utility
override to enable support for allowing alternate origins To accept all cross-origin traffic (which was the default prior to Tornado 4.0), simply override this method to always return true.
import backports.ssl_match_hostname 3.4.0.2
upgrade tornado to 4.0.2
Remove unused json imports; move json imports to utility Fixes #7
Contributors: Graeme Yeates, Ramon Wijnands, Russell Toris
0.6.1 (2014-09-01)
0.6.0 (2014-05-23)
0.5.4 (2014-04-17)
0.5.3 (2014-03-28)
rosbridge_server: add install tag for python files, not just symlinks, to make them executable
Contributors: ipa-mig
0.5.2 (2014-03-14)
move global param into local param to address issue #25
moving global parameter into local parameter to address issue #25
merging changes of groovy-devel into hydro-devel
Specific IP address binding using roslauch
added parameter lookup to rosbridge_tcp.py, modules where those are used, and default parameters to launch file; internal default-values still get used when launch-file does not provide them; internal defaults can be changed within rosbridge_tcp.py
increasing max_msg_length - still hardcoded
preparing pull request for upstream..
cleanup: files, notes, some code
cleanup tcp-server
added message_field <message_intervall> to allow client to control delay between messages from rosbridge
tested rosbridge_websocket with new capabilities; websocket test scripts not working yet..; but new caps are working when using rosbridge_websocket and tcp2ws wrapper –> so only testscripts need to be fixed for websockets.
feierabend.. morgen weiter mit server & client JSON-decoder, see notes
only current changes; not yet done..
code cleanup, not yet finished..; rosbridge logging much cleaner now
file extension for websocket server .py
…
…
fixed test_server_defragment - recodegit status
linuxonandroid
added extension to server script; + symlink
fixed some parts; ..still better do some redesign for queueing of messages..
forced tcp_send to use queue and use delay between sends
blocking behavior for service requests to non-ros; test-scripts use get-ip4 helper function; ..needs a lot cleanup before next steps..
message_size debugging; TODO: sort list of received fragments! ; make sure receive_buffers are big enough for fragment_size + header..
some code cleanup
some minor changes: comments, debug-output, ..
first working classes: service_server
added socket_timeout and exception-handling for clients that do not send any data at all but are listening only.
Catkin fixes for rosbridge TCP.
Catkinizes rosbridge_tcp. Adds launch file too.
Clean up of Rosbridge TCP.
add rosbridge_server with tcp socket support
adapt rosbridge_tcp to groovy-devel structure
add rosbridge_server with tcp socket support
Param bug fixed
SSL options added
Contributors: Brandon Alexander, Jihoon Lee, Russell Toris, Steffel Fenix, dave, fxm-db, ipa-fxm, root
0.5.1 (2013-10-31)
0.5.0 (2013-07-17)
0.5.0 preparation for hydro release
Removes trailing commas.
removing global bin installation in setup.py
Contributors: Brandon Alexander, Jihoon Lee
0.4.4 (2013-04-08)
0.4.3 (2013-04-03 08:24)
0.4.2 (2013-04-03 08:12)
launch file location fixed in install
response from rosauth fixed
authentication added
launch file updated with args for port and SSL options
SSL options added
eclipse projects removed
Contributors: Russell Toris
0.4.1 (2013-03-07)
0.4.0 (2013-03-05)
Resolves submodule issues.
Adds rosbridge_websocket launch file.
Uses only 1 .gitignore to avoid confusion.
Fixing rosapi’s “Cannot include proxy…” errors.
Renames server script to rosbridge_websocket.
Adds BSD license header to code files. See Issue #13.
rosbridge_server requires rosapi.
Moves rosbridge_server code to scripts. Was getting an odd bug with tornado: [ERROR] [WallTime: 1356115083.100585] Uncaught exception, closing connection. [ERROR] [WallTime: 1356115083.100900] Exception in callback <tornado.stack_context._StackContextWrapper object at 0x1dd6e10>
Removing ultrajson from rosbridge. If JSON parsing becomes a performance bottle neck, we can re-add it.
Refactors rosbridge_server. Adds scripts dir.
Catkinizing rosbridge_library and server.
Added command line –port argument.
Collapse directory structure.
Moved the packages inside a folder called rosbridge
Initial commit of rosbridge_server
Contributors: Austin Hendrix, Brandon Alexander, Jonathan Mace