# Roslaunch rosbridge\_server rosbridge\_websocket.launch **URL:** \ **Category:** General Questions\ **Created:** [July 31, 2018, 5:37pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81 "2018-07-31T17:37:14Z")\ **Posts on this page:** 16\ **Page:** 1
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [July 31, 2018, 5:37pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/1 "2018-07-31T17:37:14Z")
Hi, I want to launch roslaunch rosbridge\_server rosbridge\_websocket.launch in order to test speechcommand voice. Launch looks good, but when I “rostopic list”, there is no rosbridge\_server. So it does not work. Thanks fengli ![IMG_20180731_103349711](https://frm.ubiquityrobotics.com/uploads/default/original/1X/058417d22517f61d26f126a1c207dd94c53058b0.jpg) ---
**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\ **Post date:** [July 31, 2018, 5:52pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/2 "2018-07-31T17:52:43Z")
Rosbridge doesn’t open a topic automatically. If you run `rosnode list` you should see it listed. Rohan ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [July 31, 2018, 6:12pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/3 "2018-07-31T18:12:27Z")
Hi Rohan, Thanks Rohan. Yes, I can see it, but when I use wss:// login robot server, it failed. When I use ws and http, it works good. ![IMG_20180731_110457780](https://frm.ubiquityrobotics.com/uploads/default/original/1X/3e931473a9e227018318d63ced822e080d2d4f1c.jpg) ![1533060447578516483060](https://frm.ubiquityrobotics.com/uploads/default/original/1X/f3104c9ebe8cc4b9dab060c71efe4ca52f845f12.jpg) ---
**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\ **Post date:** [July 31, 2018, 6:29pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/4 "2018-07-31T18:29:26Z")
Please use port 9443 for wss and 9090 for ws. There is probably also a certificate issue, if the above doesn’t work, please check the output of the JS console in your browser. Rohan ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [July 31, 2018, 6:31pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/5 "2018-07-31T18:31:36Z")
Thanks Rohan, Let me try it. ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [July 31, 2018, 7:09pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/6 "2018-07-31T19:09:06Z")
Hi Rohan, Yes, there is a certificate issue. roslib.min.js:1 WebSocket connection to ‘wss://10.192.56.203:9443/’ failed: Error in connection establishment: net::ERR\_CERT\_AUTHORITY\_INVALID Thanks fengli ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [July 31, 2018, 8:42pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/7 "2018-07-31T20:42:39Z")
Hi Rohan, How can I fix it, I look at this cert is not same as others. Thanks fengli ![IMG_20180731_133731793](https://frm.ubiquityrobotics.com/uploads/default/original/1X/aba5ccdfe4194f618ac07bc175571b24290a44d9.jpg) ---
**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\ **Post date:** [July 31, 2018, 9:08pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/8 "2018-07-31T21:08:04Z")
This is a self-signed certificate, so it wont be accepted by your browser. You can manually import the certificate, or you can run chrome like this `google-chrome --ignore-certificate-errors` on your local command line so that it doesn’t look at the certificates. Rohan ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [July 31, 2018, 10:24pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/9 "2018-07-31T22:24:06Z")
Hi Rohan, Thank you very much. It works. fengli ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [July 31, 2018, 11:23pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/10 "2018-07-31T23:23:25Z")
Hi Rohan, Excuse me, I have another question, can I use waypoints in Rviz? I seached “follow\_waypoints” in ROS. Thank you Rohan. fengli ---
**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\ **Post date:** [July 31, 2018, 11:24pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/11 "2018-07-31T23:24:25Z")
Unfortunately no, you cannot. The waypoints are actually a feature of robot commander, not a ROS feature. Rohan ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [August 1, 2018, 12:06am UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/12 "2018-08-01T00:06:56Z")
Thank you Rohan.😁 ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [August 1, 2018, 9:34pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/13 "2018-08-01T21:34:52Z")
Hi Rohan, I am testing speechcommand waypoints setting, and it does not work, the robot’s position could not be determined. ![Screenshot_20180801-142949](https://frm.ubiquityrobotics.com/uploads/default/original/1X/175f2638cdb5f52f31fb0070979a3e34bb860f85.png) Thanks fengli ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [August 1, 2018, 9:52pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/14 "2018-08-01T21:52:28Z")
Hi Rohan, It works, thanks you . ---
**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\ **Post date:** [August 1, 2018, 10:10pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/15 "2018-08-01T22:10:27Z")
Hi, If you resolved your own issue, please post the solution as well. This way if anyone comes upon this in the future, they can see what you did. Thanks Rohan ---
**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\ **Post date:** [August 1, 2018, 11:00pm UTC](https://forum.ubiquityrobotics.com/t/roslaunch-rosbridge-server-rosbridge-websocket-launch/81/16 "2018-08-01T23:00:27Z")
Hi Rohan, I add the following the roslaunch, and then it works well. I roslaunch magni\_bringup base.launch roslaunch magni\_nav aruco.launch roslaunch magni\_nav move\_basic.launch Thanks you Rohan.