From 01046436ed8b3bb103f0892949133b9c9cbdb2ab Mon Sep 17 00:00:00 2001
From: Aaron Chong <aaronchongth@gmail.com>
Date: Tue, 14 May 2024 11:33:49 +0800
Subject: [PATCH] Adding server_uri for dispatcher node

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
---
 rmf_demos/launch/common.launch.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/rmf_demos/launch/common.launch.xml b/rmf_demos/launch/common.launch.xml
index d8835f40..9abad15b 100644
--- a/rmf_demos/launch/common.launch.xml
+++ b/rmf_demos/launch/common.launch.xml
@@ -11,6 +11,7 @@
   <arg name="bidding_time_window" description="Time window in seconds for task bidding process" default="2.0"/>
   <arg name="use_rmf_panel" default="true" description="launch web and api server for rmf_demos_panel"/>
   <arg name="use_unique_hex_string_with_task_id" default="true" description="Appends a unique hex string to the task ID"/>
+  <arg name="server_uri" default="ws://localhost:8000/_internal" description="The URI of the api server to transmit state and task information"/>
 
   <!-- Traffic Schedule  -->
   <node pkg="rmf_traffic_ros2" exec="rmf_traffic_schedule" output="both" name="rmf_traffic_schedule_primary">
@@ -59,6 +60,7 @@
       <param name="use_sim_time" value="$(var use_sim_time)"/>
       <param name="bidding_time_window" value="$(var bidding_time_window)"/>
       <param name="use_unique_hex_string_with_task_id" value="$(var use_unique_hex_string_with_task_id)"/>
+      <param name="server_uri" value="$(var server_uri)"/>
     </node>
   </group>