server.yaml

# Copyright (c) 2026 Chair of Robotics (Computer Science XVII) @ Julius–Maximilians–University
# 
# This Source Code Form is subject to the terms of the Mozilla Public
# License, v. 2.0. If a copy of the MPL was not distributed with this
# file, You can obtain one at https://mozilla.org/MPL/2.0/.

/**:
  ros__parameters:
    # host and port to which the websocket server should bind to
    host: '0.0.0.0'
    port: '9090'

    # host and port of the authentication server
    # if SSL = true, transport encryption will be applied
    authentication/host: '127.0.0.1'
    authentication/port: '8080'
    authentication/ssl: false

    # the dynamically loaded plugin which implements the authentication scheme
    authentication/plugin: ''
    # the authentication server endpoint to perform a user_key / authentication check against
    authentication/endpoint: '/'
    # if the authentication check should be omitted
    authentication/omit: true
    # timeout after which the 'server' closes the connection if no
    # user_key was send by the 'client'
    authentication/timeout: 10

    # create a pre-defined ClockSubscriber which sends the ros-time over topic /clock
    # this will allow ROS2 time synchronization between the 'server' and 'client'
    clock/subscribe: true

    # create a pre-define ThreadedSubscriber which subscribes to tf2 transformations from topic /tf and /tf_static
    # this will allow tf2 transformations forwarding from 'server' to 'client'
    # this will only work, if the 'client' has the parameter tf/publish = true 
    tf/subscribe: true

    # enable / disable per-message fragmentation during websocket transport
    # using the given fragmentation size if enabled
    fragmentation/enable: false
    fragmentation/size: 4096

    # the maximum size of a message which is accepted to receive
    # 16 * 1024B * 1024B
    max_message_size: 16777216

    # quality of service definitions
    # the policies history, depth, reliability and durability are mandatory
    # the policies deadline, lifespan, liveliness and liveliness_lease_duration are optional and set to default if missing
    #
    # id:                        unique id ... to be used for subscriber, publisher, service & action server & clients ... range from 0 to 255
    #
    # history:                   RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT, RMW_QOS_POLICY_HISTORY_KEEP_LAST, RMW_QOS_POLICY_HISTORY_KEEP_ALL
    # depth:                     * a positive integer *
    # reliability:               RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT, RMW_QOS_POLICY_RELIABILITY_RELIABLE, RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
    # durability:                RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, RMW_QOS_POLICY_DURABILITY_VOLATILE
    #
    # deadline:                  RMW_QOS_DEADLINE_DEFAULT, RMW_QOS_DEADLINE_BEST_AVAILABLE, *{seconds, nanoseconds}* e.g. *{123, 456000000}*
    # lifespan:                  RMW_QOS_LIFESPAN_DEFAULT, *{seconds, nanoseconds}* e.g. *{123, 456000000}*
    # liveliness:                RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, RMW_QOS_POLICY_LIVELINESS_AUTOMATIC, RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE
    # liveliness_lease_duration: RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, RMW_QOS_LIVELINESS_LEASE_DURATION_BEST_AVAILABLE, *{seconds, nanoseconds}* e.g. *{123, 456000000}*
    #
    # 1: default profile, 2: action-status profile, 3: sensors profile
    qos:
      - '{"id": 1, "history": "RMW_QOS_POLICY_HISTORY_KEEP_LAST", "depth": 10, "reliability": "RMW_QOS_POLICY_RELIABILITY_RELIABLE", "durability": "RMW_QOS_POLICY_DURABILITY_VOLATILE"}'
      - '{"id": 2, "history": "RMW_QOS_POLICY_HISTORY_KEEP_LAST", "depth": 10, "reliability": "RMW_QOS_POLICY_RELIABILITY_RELIABLE", "durability": "RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL"}'
      - '{"id": 3, "history": "RMW_QOS_POLICY_HISTORY_KEEP_LAST", "depth": 10, "reliability": "RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT", "durability": "RMW_QOS_POLICY_DURABILITY_VOLATILE"}'

    # compression profile definitions with default compression rate value
    #
    # id:          unique id ... to be used for subscriber, publisher, service & action server & clients ... range from 0 to 255
    #
    # NONE:        no compression
    # LZ4_DEFAULT: very fast but low compression
    # LZ4_HC:      faster than ZLIB for low compression rates, slower than ZLIB for high compression rates, always larger compressed size than ZLIB
    # ZLIB:        lowest compressed size overall
    #
    # NONE:        rate is ignored
    # LZ4_DEFAULT: rate is understood as accelerator, the bigger the fast ... range from 1 - LZ4_ACCELERATION_MAX (65537) .. default 1
    # LZ4_HC:      rate is understood as rate, the bigger the slower ... range from 1 - LZ4HC_CLEVEL_MAX (12) ... default 9
    # ZLIB:        rate is understood as rate, the bigger the slower ... range from 1 - Z_BEST_COMPRESSION (9) ... default 6
    compression:
      - '{"id": 1, "compressor": "NONE",        "rate": 0}'
      - '{"id": 2, "compressor": "LZ4_DEFAULT", "rate": 1}'
      - '{"id": 3, "compressor": "LZ4_HC",      "rate": 9}'
      - '{"id": 4, "compressor": "ZLIB",        "rate": 6}'

    # topics which are published by the 'client' locally
    # messages from these topics can be send by the 'server'
    #
    # channel:      channel ... must be unique over all subscriber and publisher ... range from 0 to 248
    # topic:        topic name
    # type:         topic type definition
    # useOwnThread: if true, an own processing thread
    # qos:          id of the quality of service profile to apply
    #
    # publisher: []

    # topics to which the 'client' subscribes locally
    # these topics can be requested by the 'server'
    #
    # channel:      channel ... must be unique over all subscriber and publisher ... range from 0 to 248
    # topic:        topic name
    # type:         topic type definition
    # useOwnThread: if true, an own processing thread plus executor thread is used
    # permanent:    if true, subscriber won't be destroyed when other side stopped requesting for the data ... necessary for RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
    # qos:          id of the quality of service profile to apply
    # compression:  id of the compression profile to apply ... needs useOwnThread = true
    #
    # subscriber: []

    # service client which are run by the 'server'
    # these service client re-call the service call of the 'client' to an actual service server which are run on the 'server'
    #
    # channel:           channel ... must be unique over all service server & client ... range from 0 - 255
    # type:              service client type as defined in plugins.xml (pluginlib)
    # useOwnThread:      if true, an own executor thread is used
    # allowSimultaneous: if simultaneous calls by the service client should be processed simultaneously or sequentially ... needs useOwnThread = true
    # service-qos:       id of the quality of service profile to apply
    # compression:       id of the compression profile to apply (also possible for shared thread, but not recommended)
    service/client:
      - '{"channel": 0, "type": "connect_plugins::AddTwoIntsServiceClient", "service-qos": 1, "useOwnThread": false, "allowSimultaneous": false, "compression": 1}'
    
    # action client which are run by the 'server'
    # these action client re-call the action call of the 'client' to an actual action server which are run on the 'server'
    #
    # channel:           channel ... must be unique over all action server & client ... range from 0 - 255
    # type:              action client type as defined in plugins.xml (pluginlib)
    # useOwnThread:      if true, an own executor thread is used
    # allowSimultaneous: if simultaneous calls by the action server should be processed simultaneously or sequentially ... needs useOwnThread = true
    # service-qos:       id of the quality of service profile to apply for goal handling
    # feedback-qos:      id of the quality of service profile to apply for publishing feedback message
    # status-qos:        id of the quality of service profile to apply for broadcasting goal statuses
    # compression:       id of the compression profile to apply (also possible for shared thread, but not recommended)
    action/client:
      - '{"channel": 0, "type": "connect_plugins::FibonacciActionClient", "service-qos": 1, "feedback-qos": 1, "status-qos": 2, "useOwnThread": false, "allowSimultaneous": false, "compression": 1}'