Server Configuration

This reference describes all server-related configuration options for the ros2_medkit gateway.

Quick Start

The gateway can be configured via:

Command line: --ros-args -p server.port:=9000
Launch files: parameters=[{'server.port': 9000}]
YAML file: See src/ros2_medkit_gateway/config/gateway_params.yaml

Network Settings

Parameter	Type	Default	Description
`server.host`	string	`"127.0.0.1"`	Host to bind the REST server. Use `"0.0.0.0"` for Docker or network access.
`server.port`	int	`8080`	Port for REST API. Valid range: 1024-65535.

Example:

# Expose on all interfaces (Docker/network)
ros2 run ros2_medkit_gateway gateway_node --ros-args \
    -p server.host:=0.0.0.0 \
    -p server.port:=8080

TLS/HTTPS Configuration

Parameter	Type	Default	Description
`server.tls.enabled`	bool	`false`	Enable HTTPS using OpenSSL.
`server.tls.cert_file`	string	`""`	Path to PEM-encoded certificate file.
`server.tls.key_file`	string	`""`	Path to PEM-encoded private key file. Restrict permissions (chmod 600).
`server.tls.ca_file`	string	`""`	Path to CA certificate file (reserved for mutual TLS).
`server.tls.min_version`	string	`"1.2"`	Minimum TLS version: `"1.2"` (compatible) or `"1.3"` (secure).

Example:

ros2_medkit_gateway:
  ros__parameters:
    server:
      tls:
        enabled: true
        cert_file: "/etc/ros2_medkit/certs/cert.pem"
        key_file: "/etc/ros2_medkit/certs/key.pem"
        min_version: "1.2"

See Configuring HTTPS/TLS for a complete HTTPS setup tutorial.

CORS Configuration

Cross-Origin Resource Sharing (CORS) settings for browser-based clients.

Parameter	Type	Default	Description
`cors.allowed_origins`	list	`[""]`	List of allowed origins. Use `["*"]` for all (not recommended).
`cors.allowed_methods`	list	`["GET", "PUT", "OPTIONS"]`	Allowed HTTP methods.
`cors.allowed_headers`	list	`["Content-Type", "Accept"]`	Allowed headers in requests.
`cors.allow_credentials`	bool	`false`	Allow credentials (cookies, auth headers).
`cors.max_age_seconds`	int	`86400`	Preflight response cache duration (24 hours).

Example for development with sovd_web_ui:

ros2_medkit_gateway:
  ros__parameters:
    cors:
      allowed_origins: ["http://localhost:5173"]
      allowed_methods: ["GET", "PUT", "POST", "DELETE", "OPTIONS"]
      allowed_headers: ["Content-Type", "Accept", "Authorization"]
      allow_credentials: true

Data Access Settings

Parameter	Type	Default	Description
`max_parallel_topic_samples`	int	`10`	Max concurrent topic samples. Higher values use more resources. Range: 1-50.
`topic_sample_timeout_sec`	float	`1.0`	Timeout for sampling topics with active publishers. Range: 0.1-30.0.

Performance Tuning

Parameter	Type	Default	Description
`refresh_interval_ms`	int	`10000`	Cache refresh interval. How often to discover ROS 2 nodes. Range: 100-60000 (0.1s-60s).

Lower values provide faster updates but increase CPU usage.

Note

The gateway uses native rclcpp APIs for all ROS 2 interactions—no ROS 2 CLI dependencies. Topic discovery, sampling, publishing, service calls, and action operations are implemented in pure C++ using ros2_medkit_serialization.

Complete Example

ros2_medkit_gateway:
  ros__parameters:
    server:
      host: "0.0.0.0"
      port: 8080
      tls:
        enabled: false

    refresh_interval_ms: 5000
    max_parallel_topic_samples: 30
    topic_sample_timeout_sec: 3.0

    cors:
      allowed_origins: ["http://localhost:5173", "https://dashboard.example.com"]
      allowed_methods: ["GET", "PUT", "POST", "DELETE", "OPTIONS"]
      allowed_headers: ["Content-Type", "Accept", "Authorization"]
      allow_credentials: true
      max_age_seconds: 86400