diff --git a/rosbridge_server/scripts/rosbridge_websocket.py b/rosbridge_server/scripts/rosbridge_websocket.py
index 572e47a28..bbec7f6be 100755
--- a/rosbridge_server/scripts/rosbridge_websocket.py
+++ b/rosbridge_server/scripts/rosbridge_websocket.py
@@ -124,6 +124,15 @@ def __init__(self):
                 print("--address argument provided without a value.")
                 sys.exit(-1)
 
+        url_path = self.declare_parameter("url_path", "/").value
+        if "--url_path" in sys.argv:
+            idx = sys.argv.index("--url_path") + 1
+            if idx < len(sys.argv):
+                url_path = str(sys.argv[idx])
+            else:
+                print("--url_path argument provided without a value.")
+                sys.exit(-1)
+
         retry_startup_delay = self.declare_parameter("retry_startup_delay", 2.0).value  # seconds.
         if "--retry_startup_delay" in sys.argv:
             idx = sys.argv.index("--retry_startup_delay") + 1
@@ -137,9 +146,11 @@ def __init__(self):
         # Done with parameter handling                   #
         ##################################################
 
-        application = Application(
-            [(r"/", RosbridgeWebSocket), (r"", RosbridgeWebSocket)], **tornado_settings
-        )
+        handlers = [(r"/", RosbridgeWebSocket), (r"", RosbridgeWebSocket)]
+        if url_path != "/":
+            handlers = [(rf"{url_path}", RosbridgeWebSocket)]
+
+        application = Application(handlers, **tornado_settings)
 
         connected = False
         while not connected and self.context.ok():