Multiple rosbridge_websocket nodes

edit

If you want to reuse launch/rosbridge_websocket.launch, then you could probably get away with pushing both instances into their own namespaces.

I haven't tried it, but something like:

<launch>
  <include ns="bridge0" file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
    <!-- use default port -->
    <arg name="port" value="9090" />
  </include>
  <include ns="bridge1" file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
    <!-- use other port -->
    <arg name="port" value="9091" />
  </include>
</launch>

You can override any of the args in rosbridge_websocket.launch in the same way.

Note that this will prefix all topics, services and actions that the rosbridge_websocket node creates/offers with the value in the ns attribute of the include tag.

If you want to avoid using namespaces, you could just copy rosbridge_websocket.launch to a package of your own (in your workspace), and copy the relative entries while making sure to change the name attribute of the node tag that starts rosbridge_websocket. But note that this will not work if rosbridge_websocket creates any global topics, services or actions, as they will then clash with each other.