Changelog for package rosbridge_server

0.11.17 (2023-09-27)

0.11.16 (2022-10-18)

• Bump minimum required cmake version. (#814)
• Fix send_message being called with wrong arguments. (#812)
• Contributors: Hans-Joachim Krauch

0.11.15 (2022-10-06)

• Skip unnecessary conversion for cbor/cbor-raw compression (#792) * Skip unnecessary conversion for cbor compression. This change avoids some unnecessary conversions when using cbor/cbor-raw compression, leading to a significantly perfomance boost.
  • Add caching for subscriptions with cbor compression.
• Contributors: Hans-Joachim Krauch

0.11.14 (2022-06-13)

• Fix ROS 1 RosbridgeTcpSocket endless loop (#722)
• Fix bson support for python3 (#545)
• Small fixes (#681)
• Contributors: Matthijs van der Burgh, Nick Paul, curiosus42

0.11.13 (2020-12-08)

0.11.12 (2020-11-25)

0.11.11 (2020-11-24)

• rosbridge_udp now encodes msg to bytes before send (#537) This is required to work with python3 socket library
• Conversion between bytes and string (#534) As of python3 sockets will input and output byte strings instead of String objects. This commits does the necessary coversions inside the tcp_handler, but it might not be the most thoughtful solution but just what I did to make it work with python3.
• Contributors: Felix Exner, Karl Oskar Lember

0.11.10 (2020-09-08)

• Error initialization with tornado. (#510) max_message_size has to be integer when initializating using tornado.
• Contributors: Carlos Herrero

0.11.9 (2020-05-27)

• noetic tests and fixes (#503)
• Contributors: Matt Vollrath

0.11.8 (2020-05-21)

• Finish protocol in IncomingQueue thread (#502)
• Contributors: Matt Vollrath

0.11.7 (2020-05-13)

• Fix backpressure deadlock (#496)
  • Don't block Subscription.unregister()
  • Don't add messages to finished queue handler
  • Decouple incoming WS handling from server thread
• Added support for None for websocket_external_port (#494)
• Contributors: Matt Vollrath, pramodhkp

0.11.6 (2020-04-29)

• Output node parameter (#481)
• Contributors: Raffaello Bonghi

0.11.5 (2020-04-08)

• default websocket_external_port to port to mimic behavior in node (#470) fixes bug introduced in #468
• Default to supporting local files as we had before Autobahn. (#469) For Kinetic 0.10.3 version don't add the allowNullOrigin option. For everything else add it and default to True because that is consistent with the original behaviour of this package. Add websocket_null_origin to launch args
• Python 3 updates/fixes (#460) * rosbridge_library, rosbridge_server: Update package format Add Python3 conditional dependencies where applicable.
  • rosbridge_library: Fix pngcompression for Python 3
  • rosapi: Use catkin_install_python for scripts

• Fix intermittent test smoke (#473) * Run rosbridge_server websocket tests serial Running these tests in parallel may make them less reliable. * Reduce websocket smoke test load Appears to be failing intermittently due to a client issue. Co-authored-by: Jihoon Lee <<jihoonlee.in@gmail.com>>

• Expose autobahn externalPort parameter (#468)
  • Expose autobahn externalPort parameter
  • Use ws port as default external port
  • Include websocket params in launchfile
• Contributors: Alexey Rogachevskiy, Eduardo Paez, El Jawad Alaa, Matt Vollrath, boilerbots

0.11.4 (2020-02-20)

• Concurrency review (#458)
  • Safer locking in PublisherConsistencyListener
  • Safer locking in ros_loader
  • Print QueueMessageHandler exceptions to stderr
  • Register before resuming outgoing valve
  • Don't pause a finished socket valve

• Add cbor-raw compression (#452) The CBOR compression is already a huge win over JSON or PNG encoding, but it’s still suboptimal in some situations. This PR adds support for getting messages in their raw binary (ROS-serialized) format. This has benefits in the following cases: - Your application already knows how to parse messages in bag files (e.g. using [rosbag.js](https://github.com/cruise-automation/rosbag.js), which means that now you can use consistent code paths for both bags and live messages. - You want to parse messages as late as possible, or in parallel, e.g. only in the thread or WebWorker that cares about the message. Delaying the parsing of the message means that moving or copying the message to the thread is cheaper when its in binary form, since no serialization between threads is necessary. - You only care about part of the message, and don't need to parse the rest of it. - You really care about performance; no conversion between the ROS binary format and CBOR is done in the rosbridge_sever.

• Fix Autobahn WebSocket vs. Python 3 (#451) Fixes #448
• Install scripts with catkin_install_python. (#449)
• autobahn_websocket.py: Convert BSON to bytes before call to sendMessage (#443) autobahn.websocket.WebSocketServerProtocol.sendMessage asserts whether message is of type bytes, which fails for message of type bson.BSON
• Autobahn WebSocket server (#426)
  • Autobahn WebSocket server

  * Bring back explicit Twisted dependency Still used directly by the UDP handler.

  • Warn when reactor wasn't running at shutdown hook
  • More descriptive websocket startup log msg
  • Remove extreneous OutgoingValve stop log
  • More comment for OutgoingValve
  • Fix --address parsing as int
  • Use Autobahn's ws url creation util method

  * Backwards compatibility for empty websocket addr This was the default in previous versions, but invalid input to Autobahn. * Factor out websocket onConnect We have access to this information in onOpen.

  • Add smoke test for rosbridge websocket server

  * Revert "Use Autobahn's ws url creation util method" This reverts commit 4224671528a03875847918ae7164e672c4ba5fce. This create_url method doesn't exist yet in Ubuntu kinetic.

  • Preserve RosbridgeWebSocket Tornado ABI

  * Run rosbridge_websocket tests with ephemeral port Avoid network collisions and unnecessary configuration while testing.

  • Fix broken test create_url on kinetic

  * Smokier smoke test Send 100 large messages in each direction to saturate buffers.

• Contributors: Jan Paul Posma, Matt Vollrath, Mike Purvis, dma307

0.11.3 (2019-08-07)

• Fixes #418: WebSocketClosedError Spam (#423)
  • not raising WebSocketClosedError for old tornado versions
• Contributors: lennartdopatka

0.11.2 (2019-07-08)

• yield infinite lock (#413)
• Add settings for websocket timeout (#410)
  • Add settings for websocket timeout
  • Error handling of StreamClosedError
• Contributors: Aurélien Labate

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.
• Synchronous websocket write (#385) Fixes #212
• 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 ]{.title-ref}#320 <<https://github.com/RobotWebTools/rosbridge_suite/issues/320>>`_
• Remove 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 miscellanous 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)

• Track Twisted run_depend Fixes #218
• Add rosbridge_udp cmake install rule #225
• Stop UDP server on ROS shutdown
• changelog updated
• Track Twisted run_depend Fixes #218
• Contributors: Jihoon Lee, Matt Vollrath, Russell Toris

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
• seprate 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
• seprate 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
• seprate 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 adress 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
• increaing 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 readd 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