refactor: make port configurable for web_node and explicit in launch

workspace/src/application_pkg/application_pkg/web_node.py

@@ -104,10 +104,13 @@ class _ThreadingHTTPServer(socketserver.ThreadingMixIn, HTTPServer):
 
 
 class WebNode(Node):
-    def __init__(self, port=8080):
+    def __init__(self):
         super().__init__('web_node')
         global _mode_publisher
 
+        self.declare_parameter('port', 8080)
+        port = self.get_parameter('port').value
+
         self._mode_publisher = self.create_publisher(
             String, '/gimbal/mode', 10
         )

workspace/src/bringup_pkg/launch/vision_pipeline.launch.py

@@ -1,6 +1,11 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+# Port allocation to avoid conflicts:
+#   :8080 - web_node (HTTP API)
+#   :8081 - web_video_server (MJPEG stream)
+#   :9090 - rosbridge_websocket (WebSocket)
+
 
 def generate_launch_description():
     return LaunchDescription([
@@ -21,6 +26,7 @@ def generate_launch_description():
             executable='web_node',
             name='web_node',
             output='screen',
+            parameters=[{'port': 8080}],
         ),
         Node(
             package='gimbal_control_pkg',
@@ -37,11 +43,13 @@ def generate_launch_description():
             executable='rosbridge_websocket',
             name='rosbridge_websocket',
             output='screen',
+            parameters=[{'port': 9090}],
         ),
         Node(
             package='web_video_server',
             executable='web_video_server',
             name='web_video_server',
             output='screen',
+            parameters=[{'port': 8081}],
         ),
     ])