Fix websocket handshake for ROS Noetic

pom.xml

@@ -8,7 +8,7 @@
 
  <groupId>edu.wpi.rail</groupId>
  <artifactId>jrosbridge</artifactId>
- <version>0.2.2-SNAPSHOT</version>
+ <version>0.2.3</version>
 
  <properties>
  <java.version>1.8</java.version>

src/main/java/edu/wpi/rail/jrosbridge/ClientConfigurator.java

@@ -0,0 +1,18 @@
+package edu.wpi.rail.jrosbridge;
+
+import java.util.List;
+import java.util.Map;
+
+import javax.websocket.ClientEndpoint;
+import javax.websocket.ClientEndpointConfig;
+
+@ClientEndpoint
+public class ClientConfigurator extends ClientEndpointConfig.Configurator{
+
+ @Override
+ public void beforeRequest(Map<String, List<String>> headers) {
+
+ super.beforeRequest(headers);
+ }
+
+}

src/main/java/edu/wpi/rail/jrosbridge/Ros.java

@@ -21,6 +21,7 @@
 import javax.websocket.OnMessage;
 import javax.websocket.OnOpen;
 import javax.websocket.Session;
+import javax.websocket.WebSocketContainer;
 
 import edu.wpi.rail.jrosbridge.callback.CallServiceCallback;
 import edu.wpi.rail.jrosbridge.services.ServiceRequest;
@@ -41,7 +42,8 @@
  * @author Russell Toris - [email protected]
  * @version April 1, 2014
  */
-@ClientEndpoint
+@ClientEndpoint(
+ configurator = ClientConfigurator.class)
 public class Ros {
 
  /**
@@ -201,8 +203,10 @@ public boolean connect() {
  try {
  // create a WebSocket connection here
  URI uri = new URI(this.getURL());
- ContainerProvider.getWebSocketContainer()
- .connectToServer(this, uri);
+
+ WebSocketContainer wsc = ContainerProvider.getWebSocketContainer(); 
+ wsc.connectToServer(this, uri);
+
  return true;
  } catch (DeploymentException | URISyntaxException | IOException e) {
  // failed connection, return false
@@ -537,4 +541,5 @@ public void deregisterCallServiceCallback(String serviceName) {
  // remove the callback
  callServiceCallbacks.remove(serviceName);
  }
+
 }