feat(tier4_autoware_api_launch): add rosbridge (tier4#779)

* fix(image_projection_based_fusion): modify build error in rolling (tier4#775)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* feat(tier4_autoware_api_launch): add rosbridge

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* Update launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

common/web_controller/README.md

@@ -33,7 +33,7 @@ None
 
 ## Assumptions / Known limits
 
-TBD.
+`web_controller` needs `rosbridge` which is automatically launched in [tier4_autoware_api_launch](https://github.com/autowarefoundation/autoware.universe/pull/779) along with launching Autoware.
 
 ## Usage
 

launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml

@@ -1,4 +1,6 @@
 <launch>
+  <arg name="respawn_rosbridge" default="true"/>
+
   <!-- awapi (deprecated) -->
   <group>
     <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
@@ -11,4 +13,10 @@
     <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/internal_api_adaptor.launch.py"/>
     <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/internal_api_relay.launch.xml"/>
   </group>
+
+  <!-- rosbridge -->
+  <!-- TODO: respawn will work once https://github.com/ros2/launch/pull/569 is released. I'll delete this comment when it's done. -->
+  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
+    <arg name="respawn" value="$(var respawn)"/>
+  </include>
 </launch>