From 444c99c0ab63df724d8b3a18e0679b507c3b79a9 Mon Sep 17 00:00:00 2001
From: Michael Jae-Yoon Chung <mikejaeyoon@gmail.com>
Date: Wed, 7 Jun 2023 14:27:07 -0700
Subject: [PATCH] Added optional arguments for rosbridge port and websocket
 external port in teleop.launch file.

---
 launch/teleop.launch | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/launch/teleop.launch b/launch/teleop.launch
index 8cd2874..dd689ff 100644
--- a/launch/teleop.launch
+++ b/launch/teleop.launch
@@ -10,9 +10,13 @@
     <arg name="keyboard_teleop" value = "0" />
 
     <!-- Start up websocket for docker container foxglove -->
+    <arg name="_rosbridge_port" default="$(optenv ROSBRIDGE_PORT)" />
+    <arg name="_rosbridge_websocket_external_port" default="$(optenv ROSBRIDGE_WEBSOCKET_EXTERNAL_PORT)" />
+
     <group if="$(arg foxglove_teleop)">
-        <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" > 
-            <arg name="port" value="9090"/>
+        <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
+            <arg name="port" value="$(eval _rosbridge_port if _rosbridge_port else 9090)"/>
+            <arg name="websocket_external_port" value="$(eval _rosbridge_websocket_external_port if _rosbridge_websocket_external_port else None)"/>
         </include>
     </group>