Skip to content

Fix IP binding of rosbridge_server #1047

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
wants to merge 1 commit into
base: ros1
Choose a base branch
from
Open

Fix IP binding of rosbridge_server #1047

wants to merge 1 commit into from

Conversation

liyufan
Copy link

@liyufan liyufan commented Jun 27, 2025

Public API Changes

None

Description

While launching rosbridge_server with the address parameter, it can still be accessed through another interface. For example:

roslaunch rosbridge_server rosbridge_websocket.launch address:=192.168.1.101

My IP addresses:

enp6s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 10.64.89.48  netmask 255.255.255.0  broadcast 10.64.89.255
        inet6 fe80::1f50:2efc:ac11:5e36  prefixlen 64  scopeid 0x20<link>
        ether 60:cf:84:ca:3e:c3  txqueuelen 1000  (Ethernet)
        RX packets 51493  bytes 21183271 (21.1 MB)
        RX errors 0  dropped 482  overruns 0  frame 0
        TX packets 14025  bytes 2335009 (2.3 MB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 24  

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 1484  bytes 206358 (206.3 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1484  bytes 206358 (206.3 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

wlx6c1ff7469d01: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.1.101  netmask 255.255.255.0  broadcast 192.168.1.255
        inet6 fe80::78bd:d8a6:3e59:cb92  prefixlen 64  scopeid 0x20<link>
        ether 6c:1f:f7:46:9d:01  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

Although the output shows it is bound to the specified address:

... logging to ~/.ros/log/0ab8d832-532e-11f0-9099-cf231ae1cc10/roslaunch-System-Product-Name-3238.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://System-Product-Name:46291/

SUMMARY
========

PARAMETERS
 * /rosapi/params_glob: [*]
 * /rosapi/services_glob: [*]
 * /rosapi/topics_glob: [*]
 * /rosbridge_websocket/address: 192.168.1.101
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/bson_only_mode: False
 * /rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_websocket/max_message_size: None
 * /rosbridge_websocket/params_glob: [*]
 * /rosbridge_websocket/port: 9090
 * /rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_websocket/services_glob: [*]
 * /rosbridge_websocket/topics_glob: [*]
 * /rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_websocket/use_compression: False
 * /rosbridge_websocket/websocket_external_port: None
 * /rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_websocket/websocket_ping_timeout: 30
 * /rosdistro: noetic
 * /rosversion: 1.17.4

NODES
  /
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)

auto-starting new master
process[master]: started with pid [3246]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0ab8d832-532e-11f0-9099-cf231ae1cc10
process[rosout-1]: started with pid [3256]
started core service [/rosout]
process[rosbridge_websocket-2]: started with pid [3263]
process[rosapi-3]: started with pid [3264]
[INFO] [1751011766.504863]: Rosapi started
2025-06-27 16:09:26+0800 [-] Log opened.
2025-06-27 16:09:26+0800 [-] registered capabilities (classes):
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.call_service.CallService'>
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.advertise.Advertise'>
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.publish.Publish'>
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
2025-06-27 16:09:26+0800 [-]  - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
2025-06-27 16:09:26+0800 [-] WebSocketServerFactory starting on 9090
2025-06-27 16:09:26+0800 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0x7fbceb286af0>
2025-06-27 16:09:26+0800 [-] [INFO] [1751011766.663466]: Rosbridge WebSocket server started at ws://192.168.1.101:9090

In fact, it has not taken effect at all, connections from other interface (which is enp6s0 on my computer) are still allowed:

2025-06-27 16:09:27+0800 [-] dropping connection to peer tcp4:10.68.115.165:43304 with abort=False: None
2025-06-27 16:09:27+0800 [-] dropping connection to peer tcp4:10.68.115.165:43300 with abort=False: None

We can verify it through netstat:

sudo netstat -tulnp | grep 9090

tcp        0      0 0.0.0.0:9090            0.0.0.0:*               LISTEN      3263/python3

On the other hand, it even allows you to bind IP addresses that are not on the local machine:

roslaunch rosbridge_server rosbridge_websocket.launch address:=1.1.1.1

... logging to ~/.ros/log/2bd6ca24-532e-11f0-9099-cf231ae1cc10/roslaunch-System-Product-Name-3385.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://System-Product-Name:35595/

SUMMARY
========

PARAMETERS
 * /rosapi/params_glob: [*]
 * /rosapi/services_glob: [*]
 * /rosapi/topics_glob: [*]
 * /rosbridge_websocket/address: 1.1.1.1
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/bson_only_mode: False
 * /rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_websocket/max_message_size: None
 * /rosbridge_websocket/params_glob: [*]
 * /rosbridge_websocket/port: 9090
 * /rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_websocket/services_glob: [*]
 * /rosbridge_websocket/topics_glob: [*]
 * /rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_websocket/use_compression: False
 * /rosbridge_websocket/websocket_external_port: None
 * /rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_websocket/websocket_ping_timeout: 30
 * /rosdistro: noetic
 * /rosversion: 1.17.4

NODES
  /
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)

auto-starting new master
process[master]: started with pid [3393]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2bd6ca24-532e-11f0-9099-cf231ae1cc10
process[rosout-1]: started with pid [3403]
started core service [/rosout]
process[rosbridge_websocket-2]: started with pid [3410]
process[rosapi-3]: started with pid [3411]
2025-06-27 16:10:22+0800 [-] Log opened.
2025-06-27 16:10:22+0800 [-] registered capabilities (classes):
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.call_service.CallService'>
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.advertise.Advertise'>
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.publish.Publish'>
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
2025-06-27 16:10:22+0800 [-]  - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
[INFO] [1751011822.181624]: Rosapi started
2025-06-27 16:10:22+0800 [-] WebSocketServerFactory starting on 9090
2025-06-27 16:10:22+0800 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0x7f95a22af7c0>
2025-06-27 16:10:22+0800 [-] [INFO] [1751011822.227472]: Rosbridge WebSocket server started at ws://1.1.1.1:9090
2025-06-27 16:10:23+0800 [-] dropping connection to peer tcp4:10.68.115.165:37358 with abort=False: None
2025-06-27 16:10:23+0800 [-] dropping connection to peer tcp4:10.68.115.165:37364 with abort=False: None

Finally I found that the root cause is no interface parameter is passed when calling function listenWS, and it work as expected after this fix. To evaluate it, simply apply the fix to /opt/ros/noetic/lib/rosbridge_server/rosbridge_websocket, then launch the server again, you will find that the IP binding is correct:

tcp        0      0 192.168.1.101:9090      0.0.0.0:*               LISTEN      3931/python3

And if you want to bind to 1.1.1.1 again, you will get error like this:

... logging to ~/.ros/log/1be9e4f0-5330-11f0-9099-cf231ae1cc10/roslaunch-System-Product-Name-4042.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://System-Product-Name:33001/

SUMMARY
========

PARAMETERS
 * /rosapi/params_glob: [*]
 * /rosapi/services_glob: [*]
 * /rosapi/topics_glob: [*]
 * /rosbridge_websocket/address: 1.1.1.1
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/bson_only_mode: False
 * /rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_websocket/max_message_size: None
 * /rosbridge_websocket/params_glob: [*]
 * /rosbridge_websocket/port: 9090
 * /rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_websocket/services_glob: [*]
 * /rosbridge_websocket/topics_glob: [*]
 * /rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_websocket/use_compression: False
 * /rosbridge_websocket/websocket_external_port: None
 * /rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_websocket/websocket_ping_timeout: 30
 * /rosdistro: noetic
 * /rosversion: 1.17.4

NODES
  /
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)

auto-starting new master
process[master]: started with pid [4050]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1be9e4f0-5330-11f0-9099-cf231ae1cc10
process[rosout-1]: started with pid [4060]
started core service [/rosout]
process[rosbridge_websocket-2]: started with pid [4067]
process[rosapi-3]: started with pid [4068]
2025-06-27 16:24:14+0800 [-] Log opened.
2025-06-27 16:24:14+0800 [-] registered capabilities (classes):
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.call_service.CallService'>
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.advertise.Advertise'>
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.publish.Publish'>
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
2025-06-27 16:24:14+0800 [-]  - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
[INFO] [1751012654.468930]: Rosapi started
2025-06-27 16:24:14+0800 [-] [WARN] [1751012654.526506]: Unable to start server: Couldn't listen on 1.1.1.1:9090: [Errno 99] Cannot assign requested address. Retrying in 5s.

The bug was introduced in #426. This PR fixes #904.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
1 participant
@liyufan