Provide separate arguments for publish and subscribe topic globs.

[harsh-pal-robotics]

Currently you can pass the "--topics_globs" which is then provided for both the Publish and Subsrciber glob.

rosbridge_suite/rosbridge_server/scripts/rosbridge_websocket.py

Line 274 in c1bfc2f

if "--topics_glob" in sys.argv:

rosbridge_suite/rosbridge_server/scripts/rosbridge_websocket.py

Line 323 in c1bfc2f

Subscribe.topics_glob = RosbridgeWebSocket.topics_glob

rosbridge_suite/rosbridge_server/scripts/rosbridge_websocket.py

Line 325 in c1bfc2f

Publish.topics_glob = RosbridgeWebSocket.topics_glob

And the same for the "--services_glob" which is provided for both advertise and call service globs.

The idea is that this should provide a fine-grained control whether it is possible to publish or suscribe to a certain topic.

[sea-bass]

This is a good idea, if you're willing to help implement it.

Also semi-related, I notice there is no actions_glob either. Guess I didn't add that when I made the action support feature 😬

[harsh-pal-robotics]

For sure! I will make a PR with it!

The new args could be:

• subscribe_topics_glob
• publish_topics_glob (for publishing and advertising)
• call_services_glob
• advertise_services_glob (advertising, unadvertising)
• client_action_glob
• advertise_action_glob

Do you want to keep the topics_glob and services_glob arguments, which would not be breaking compatibility. And providing value to the topics_glob arg would allow for both publishing and subscribing.

[sea-bass]

Hmm... probably the most "correct" thing to do is whatever doesn't break compatibility. But I also don't think having a redundant interface is desired.

I would say just replace it, so long as all the defaults are the same as before.

But maybe others have more opinions?

[gstorer]

I would like to +1 this feature request. I have implemented a local change that allows some of this. I agree a redundant interface isn't great but it will break backwards compatibility. Maybe keep the redundant interface for existing versions and remove it on new ROS releases going forwards?