Add client connection mode using the unused --address CLI argument #132
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minggangw
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Feb 7, 2020
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Thanks for adding this useful feature and I also noticed that ROS1 bridge has a similar idea of it. I am going to merge the PR, and would you please add the usage of this feature at the Run Examples section of README in a following patch, thanks!
| // new connections prevents us from sending messages | ||
| // immediately after startup | ||
| // More details at https://github.com/websockets/ws/issues/1393 | ||
| setTimeout(() => ws.send(JSON.stringify(msg)), 10); |
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It's Ok to add the timeout here because it's not event-driven for the establishment of a new connection.
This was referenced Mar 21, 2020
minggangw
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Mar 22, 2020
This is a followup from a comment in #132 that instructs on the usage of client mode.
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I have a setup with a internal (local) ROS network and an external (master) websocket server. The external server has a public websocket address, but the ROS network is not exposed.
This PR allows the web bridge to be a websocket client that connects to the external server - requests can be issued by the server and proxied into the local network the same way a regular client would connect to the ros2-web-bridge as before. The
--addressarg was apparently totally unused, so I co-opted that to open a client connection instead of a server connection.In the new test I added, there's a
setTimeoutI'm not particularly proud of. Without this timeout, the test would fail every 4-5 runs due to a race condition in the WS library - with the timeout, the test passes ~50x in a row. I tried other options includingprocess.nexttickto no avail... I'm open to suggestions on a better way.