Local signaling server

Author: teksander

README.md

@@ -35,12 +35,19 @@ sudo apt install -y  libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
 
 Finally, ROS is required. ROS 1 and ROS 2 are both supported. For ROS1, install Noetic as per [these installation instructions](https://wiki.ros.org/noetic/Installation/Ubuntu). For ROS2, we recommend using Kilted as the latest release ([installation instructions](https://docs.ros.org/en/kilted/Installation/Ubuntu-Install-Debs.html)), but earlier distros should also work.
 
-In addition to base ROS, a websocket bridge server is required for ROS 2 only:
+For ROS1: set the flag in `src/commands/start.rs` line 20.
+
+```rust
+const ROS1: bool = false;
+```
+
+For ROS2: a websocket bridge server is additionally required:
 
 ```bash
 sudo apt install ros-$ROS_DISTRO-rosbridge-suite
 ```
 
+
 Build the package as follows:
 
 ```bash

scripts/signaling_server.py

@@ -2,6 +2,14 @@
 
 
 clients = {}
+local   = True
+
+# # TLS configuration
+ssl_context = ssl.SSLContext(ssl.PROTOCOL_TLS_SERVER)
+ssl_context.load_cert_chain("certs/dev-server.crt", "certs/dev-server.key")
+
+if local:
+    ssl_context = None
 
 async def handler(ws):
     print("Waiting for connections. Connected clients: {}".format(clients))
@@ -27,11 +35,7 @@ async def main():
     local_ip = "0.0.0.0"
     port = 8765
 
-    # TLS configuration
-    ssl_context = ssl.SSLContext(ssl.PROTOCOL_TLS_SERVER)
-    ssl_context.load_cert_chain("certs/dev-server.crt", "certs/dev-server.key")
-
-    print(f"Starting secure WebSocket server at wss://{local_ip}:{port}")
+    print(f"Starting secure WebSocket server at ws://{local_ip}:{port}")
     async with websockets.serve(handler, local_ip, port, ssl=ssl_context):
         await asyncio.Future()
 

scripts/test_signaling_server.py

@@ -1,19 +1,16 @@
-import asyncio
-import websockets
-import json
-import ssl
+import asyncio, websockets, json, ssl
 
 SERVER_HOST = "localhost"
 SERVER_PORT = 8765
-URI = f"wss://{SERVER_HOST}:{SERVER_PORT}"
+URI = f"ws://{SERVER_HOST}:{SERVER_PORT}"
 
 # SSL context (use self-signed cert)
 ssl_context = ssl.SSLContext(ssl.PROTOCOL_TLS_CLIENT)
 ssl_context.check_hostname = False  # Skip hostname verification (for self-signed)
 ssl_context.verify_mode = ssl.CERT_NONE  # Skip certificate verification (for testing)
 
 async def test_client():
-    print(f"Connecting to wss://{SERVER_HOST}:{SERVER_PORT}...")
+    print(f"Connecting to {URI}...")
 
     try:
         async with websockets.connect(