From d677af47e22abbe12d43c548148d19615b27be12 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 11 Jun 2020 13:00:41 -0700
Subject: [PATCH 1/4] websockets

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 subt_ign/launch/cloudsim_sim.ign | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index 724ee75b..a6cce9f0 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -216,6 +216,18 @@
   if defined?(levels) && levels != nil && !levels.empty?
     $levels = levels.downcase == "true"
   end
+
+  $websocketAuthKey = ""
+  if defined?(websocketAuthKey) && websocketAuthKey != nil && !websocketAuthKey.empty?
+    $websocketAuthKey = websocketAuthKey
+  end
+
+  $websocketAdminAuthKey = ""
+  if defined?(websocketAdminAuthKey) && websocketAdminAuthKey != nil && !websocketAdminAuthKey.empty?
+    $websocketAdminAuthKey = websocketAdminAuthKey
+  end
+
+  puts $websocketAuthKey
 %>
 
 <ignition version='1.0'>
@@ -224,6 +236,15 @@
     <value>$LD_LIBRARY_PATH</value>
   </env>
 
+  <!-- Run the websocket server -->
+  <plugin name="ignition::launch::WebsocketServer"
+          filename="libignition-launch-websocket-server.so">
+    <publication_hz>30</publication_hz>
+    <port>9002</port>
+    <authorization_key><%= $websocketAuthKey %></authorization_key>
+    <admin_authorization_key><%= $websocketAdminAuthKey %></admin_authorization_key>
+  </plugin>
+
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
     <% if $worldName.include?('tunnel_circuit_') &&

From 424c738e6b8f8172b8cf9a7d58d4959796ed685a Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Mon, 15 Jun 2020 07:56:02 -0700
Subject: [PATCH 2/4] Working on websockets

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 docker/cloudsim_sim/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/cloudsim_sim/Dockerfile b/docker/cloudsim_sim/Dockerfile
index 81a2e391..493ba0ce 100644
--- a/docker/cloudsim_sim/Dockerfile
+++ b/docker/cloudsim_sim/Dockerfile
@@ -107,7 +107,7 @@ RUN rosdep update
 # docker is run
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
- && git clone https://github.com/osrf/subt
+ && git clone https://github.com/osrf/subt -b websocket
 
 # Download the public models
 COPY download_models.sh ./

From 68d9a050291eccf53c21c525462f62bba245bd9d Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Tue, 16 Jun 2020 09:03:03 -0700
Subject: [PATCH 3/4] Added SSL

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 subt_ign/launch/cloudsim_sim.ign | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index a6cce9f0..802679c3 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -227,7 +227,15 @@
     $websocketAdminAuthKey = websocketAdminAuthKey
   end
 
-  puts $websocketAuthKey
+  $websocketSSLCertFile = ""
+  if defined?(websocketSSLCertFile) && websocketSSLCertFile != nil && !websocketSSLCertFile.empty?
+    $websocketSSLCertFile = websocketSSLCertFile
+  end
+
+  $websocketSSLKeyFile = ""
+  if defined?(websocketSSLKeyFile) && websocketSSLKeyFile != nil && !websocketSSLKeyFile.empty?
+    $websocketSSLKeyFile = websocketSSLKeyFile
+  end
 %>
 
 <ignition version='1.0'>
@@ -243,6 +251,10 @@
     <port>9002</port>
     <authorization_key><%= $websocketAuthKey %></authorization_key>
     <admin_authorization_key><%= $websocketAdminAuthKey %></admin_authorization_key>
+    <ssl>
+      <cert_file><%= $websocketSSLCertFile %></cert_file>
+      <private_key_file><%= $websocketSSLKeyFile %></private_key_file>
+    </ssl>
   </plugin>
 
   <plugin name="ignition::launch::GazeboServer"

From 23edbe1d12faa447d8d08863bbda467980e59e37 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Tue, 23 Jun 2020 16:27:52 -0700
Subject: [PATCH 4/4] Remove branch

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 docker/cloudsim_sim/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/cloudsim_sim/Dockerfile b/docker/cloudsim_sim/Dockerfile
index 493ba0ce..81a2e391 100644
--- a/docker/cloudsim_sim/Dockerfile
+++ b/docker/cloudsim_sim/Dockerfile
@@ -107,7 +107,7 @@ RUN rosdep update
 # docker is run
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
- && git clone https://github.com/osrf/subt -b websocket
+ && git clone https://github.com/osrf/subt
 
 # Download the public models
 COPY download_models.sh ./