Add websocket header support to the ROS-client

TheSpeedM commented 2 months ago

Description

Some device that I am using has a websocket available that is protected with a token. This token needs to be passed via the websocket connection header. This PR adds websocket header support to the ROS-client.

The headers can be added to the ROS-client like this, also see test_ws_headers.py:


headers = {
    'cookie': 'token=rosbridge',
    'authorization': 'Some auth'
}

client = Ros('127.0.0.1', 9000, headers=headers)

What type of change is this?

[ ] Bug fix in a backwards-compatible manner.
[x] New feature in a backwards-compatible manner.
[ ] Breaking change: bug fix or new feature that involve incompatible API changes.
[ ] Other (e.g. doc update, configuration, etc)

I don't see a reason why this couldn't be backwards compatible, but I could be wrong.

Checklist

[x] I added a line to the CHANGELOG.rst file in the Unreleased section under the most fitting heading (e.g. Added, Changed, Removed).
[x] I ran all tests on my computer and it's all green (i.e. invoke test).
[x] I ran lint on my computer and there are no errors (i.e. invoke check).
[x] I have added tests that prove my fix is effective or that my feature works.
[x] I have added necessary documentation (if appropriate)

Questions

Is this desired for this library? Otherwise I will continue to use my fork.
Is the test in the right spot? It is independent of ROS-version so this seemed fine.
I am not familiar with autobahn and twisted so let me know if this should be accomplished in another way.
Should the passing of headers be more explicit? Now it just happens via the **kwargs of RosBridgeClientFactory.

gonzalocasas commented 2 months ago

Cool! Thanks!

TheSpeedM commented 1 month ago

Hi @gonzalocasas, any update on getting this merged?

Elian0213 commented 3 weeks ago

Cool! Thanks!

I actually ended up using his repository since I ran into the same issue, would be awesome if this gets merged!

gramaziokohler / roslibpy