Use foxglove_bridge_base library

.clang-format

@@ -19,12 +19,15 @@ ReflowComments: true
 SortIncludes: true
 
 IncludeCategories:
-  - Regex: "^<foxglove"
-    Priority: 1
+  - Regex: "^\".*"
+    Priority: 4
+    SortPriority: 0
+  - Regex: "^<foxglove.*"
+    Priority: 3
     SortPriority: 0
   - Regex: "^<.*/"
     Priority: 2
     SortPriority: 0
   - Regex: "^<.*"
-    Priority: 3
+    Priority: 1
     SortPriority: 0

.devcontainer/Dockerfile.ros1

@@ -15,11 +15,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   git \
   && rm -rf /var/lib/apt/lists/*
 
-# Create a Catkin workspace
-RUN source /opt/ros/noetic/setup.bash \
-  && mkdir -p /ros_ws/src \
-  && cd /ros_ws/src \
-  && catkin_init_workspace
+# Create a ROS 1 workspace
+RUN mkdir -p /ros1_ws/src/ros-foxglove-bridge
 
 # Source the ROS environment in .bashrc
 RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc

.devcontainer/Dockerfile.ros2

@@ -11,6 +11,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   git \
   && rm -rf /var/lib/apt/lists/*
 
+# Create a ROS 2 workspace
 RUN mkdir -p /ros2_ws/src/ros-foxglove-bridge
 
 # Source the ROS environment in .bashrc

.devcontainer/devcontainer.json

@@ -1,13 +1,17 @@
 {
+  // ROS 2 dev environment
   "name": "ROS 2",
   "workspaceFolder": "/ros2_ws/src/ros-foxglove-bridge",
   "workspaceMount": "source=${localWorkspaceFolder},target=/ros2_ws/src/ros-foxglove-bridge,type=bind,consistency=cached",
   "dockerFile": "./Dockerfile.ros2",
-  // Comment the lines above and uncomment these lines to switch the VS Code
-  // dev container from a ROS 2 environment to ROS 1
+
+  // ROS 1 dev environment
   // "name": "ROS 1",
   // "workspaceFolder": "/ros1_ws/src/ros-foxglove-bridge",
+  // "workspaceMount": "source=${localWorkspaceFolder},target=/ros1_ws/src/ros-foxglove-bridge,type=bind,consistency=cached",
   // "dockerFile": "./Dockerfile.ros1",
+
+  // Shared configuration between ROS 1 and ROS 2 environments
   "context": "..",
   "forwardPorts": [
     8080

.vscode/settings.json

@@ -1,4 +1,5 @@
 {
+  "C_Cpp.autoAddFileAssociations": false,
   "editor.defaultFormatter": "xaver.clang-format",
   "editor.formatOnSave": true,
   "files.eol": "\n",

CMakeLists.txt

@@ -7,6 +7,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 option(ENABLE_ASAN "Enable Address Sanitizer" OFF)
 
+find_package(Threads REQUIRED)
 find_package(OpenSSL REQUIRED)
 find_package(websocketpp REQUIRED)
 
@@ -43,8 +44,18 @@ IF(NOT WIN32 AND ENABLE_ASAN)
   set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
 endif()
 
-include_directories(foxglove_bridge_base/include)
-
+# Build the foxglove_bridge_base library
+add_library(foxglove_bridge_base STATIC
+  foxglove_bridge_base/src/foxglove_bridge.cpp
+)
+target_include_directories(foxglove_bridge_base
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/foxglove_bridge_base/include>
+    $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(foxglove_bridge_base OpenSSL::Crypto OpenSSL::SSL ${CMAKE_THREAD_LIBS_INIT})
+
+# Compile the ROS 1 or ROS 2 node
 # http://answers.ros.org/question/230877/optionally-build-a-package-with-catkin/
 if(CATKIN_DEVEL_PREFIX OR catkin_FOUND OR CATKIN_BUILD_BINARY_PACKAGE)
   set(COMPILING_ROS1 1)
@@ -59,15 +70,13 @@ if(CATKIN_DEVEL_PREFIX OR catkin_FOUND OR CATKIN_BUILD_BINARY_PACKAGE)
     INCLUDE_DIRS foxglove_bridge_base/include
     LIBRARIES foxglove_bridge_base
     CATKIN_DEPENDS roslib roscpp
-    DEPENDS OpenSSL websocketpp
   )
 
-  message(STATUS ${catkin_INCLUDE_DIRS})
   add_definitions(-DIS_ROS1)
 
   add_executable(foxglove_bridge ros1_foxglove_bridge/ros1_foxglove_bridge.cpp)
   target_include_directories(foxglove_bridge SYSTEM PRIVATE ${catkin_INCLUDE_DIRS})
-  target_link_libraries(foxglove_bridge OpenSSL::Crypto OpenSSL::SSL ${catkin_LIBRARIES})
+  target_link_libraries(foxglove_bridge foxglove_bridge_base ${catkin_LIBRARIES})
 elseif(DEFINED ENV{AMENT_PREFIX_PATH})
   set(COMPILING_ROS2 1)
 
@@ -79,14 +88,12 @@ elseif(DEFINED ENV{AMENT_PREFIX_PATH})
   message(STATUS "foxglove_bridge is being built for ROS 2.")
   message(STATUS "--------------------------------------------------")
 
-  message(STATUS ${catkin_INCLUDE_DIRS})
-
   add_definitions(-DIS_ROS2)
 
   add_executable(foxglove_bridge ros2_foxglove_bridge/ros2_foxglove_bridge.cpp)
   target_include_directories(foxglove_bridge SYSTEM PRIVATE ${ament_index_cpp_INCLUDE_DIRS})
-  ament_target_dependencies(foxglove_bridge rclcpp OpenSSL websocketpp)
-  target_link_libraries(foxglove_bridge OpenSSL::Crypto OpenSSL::SSL)
+  ament_target_dependencies(foxglove_bridge rclcpp)
+  target_link_libraries(foxglove_bridge foxglove_bridge_base)
 else()
   message(FATAL_ERROR "No ROS 1 or ROS 2 build environment detected.")
 endif()

foxglove_bridge_base/include/foxglove_bridge/foxglove_bridge.hpp

@@ -1 +1,7 @@
 #pragma once
+
+namespace foxglove {
+
+const char* WebSocketUserAgent();
+
+}  // namespace foxglove

foxglove_bridge_base/src/foxglove_bridge.cpp

@@ -1 +1,15 @@
 #include "foxglove_bridge/foxglove_bridge.hpp"
+
+#define ASIO_STANDALONE
+#include <websocketpp/config/asio.hpp>
+#include <websocketpp/server.hpp>
+
+using Server = websocketpp::server<websocketpp::config::asio_tls>;
+using ConnectionHdl = websocketpp::connection_hdl;
+using SslContext = websocketpp::lib::asio::ssl::context;
+using websocketpp::lib::placeholders::_1;
+using websocketpp::lib::placeholders::_2;
+
+const char* foxglove::WebSocketUserAgent() {
+  return websocketpp::user_agent;
+}

ros1_foxglove_bridge/ros1_foxglove_bridge.cpp

@@ -4,6 +4,8 @@
 #include <websocketpp/config/asio.hpp>
 #include <websocketpp/server.hpp>
 
+#include <foxglove_bridge/foxglove_bridge.hpp>
+
 using Server = websocketpp::server<websocketpp::config::asio_tls>;
 using ConnectionHdl = websocketpp::connection_hdl;
 using SslContext = websocketpp::lib::asio::ssl::context;
@@ -14,7 +16,8 @@ class FoxgloveBridge {
 public:
   explicit FoxgloveBridge(ros::NodeHandle& node) {
     (void)node;
-    ROS_INFO("Starting %s", ros::this_node::getName().c_str());
+    ROS_INFO("Starting %s with %s", ros::this_node::getName().c_str(),
+             foxglove::WebSocketUserAgent());
   }
 
 private:

ros2_foxglove_bridge/ros2_foxglove_bridge.cpp

@@ -1,25 +1,16 @@
-#define ASIO_STANDALONE
-
-#include <rclcpp/rclcpp.hpp>
-#include <websocketpp/config/asio.hpp>
-#include <websocketpp/server.hpp>
-
 #include <chrono>
 #include <memory>
 
-using Server = websocketpp::server<websocketpp::config::asio_tls>;
-using ConnectionHdl = websocketpp::connection_hdl;
-using SslContext = websocketpp::lib::asio::ssl::context;
-using websocketpp::lib::placeholders::_1;
-using websocketpp::lib::placeholders::_2;
+#include <rclcpp/rclcpp.hpp>
 
-using namespace std::chrono_literals;
+#include <foxglove_bridge/foxglove_bridge.hpp>
 
 class FoxgloveBridge : public rclcpp::Node {
 public:
   FoxgloveBridge()
       : Node("foxglove_bridge") {
-    RCLCPP_INFO(this->get_logger(), "Starting %s", this->get_name());
+    RCLCPP_INFO(this->get_logger(), "Starting %s with %s", this->get_name(),
+                foxglove::WebSocketUserAgent());
   }
 
 private: