Merge pull request #268 from gazebosim/merge_5_6_20240801

Merge 5 -> 6

plugins/joy_to_twist/JoyToTwist.cc

@@ -22,6 +22,7 @@
 #endif
 
 #include <string>
+#include <vector>
 
 #include <gz/msgs/joy.pb.h>
 #include <gz/msgs/twist.pb.h>

plugins/websocket_server/WebsocketServer.cc

@@ -624,9 +624,14 @@ void WebsocketServer::Run()
 
   while (this->run)
   {
-    // The second parameter is a timeout that is no longer used by
-    // libwebsockets.
-    lws_service(this->context, 0);
+    // The second parameter is used to control lws's event wait time.
+    // A -1 does not wait for an event, and 0 causes lws to wait
+    // for an event. When shutting down the websocket server, the
+    // wait time could be over 30 seconds if 0 is used.
+    //
+    // We are running lws in a separate thread with out our own
+    // condition variable. So, we will not use lws's event wait.
+    lws_service(this->context, -1);
 
     // Wait for (1/60) seconds or an event.
     std::unique_lock<std::mutex> lock(this->runMutex);

src/cmd/cmdlaunch.rb.in

@@ -14,6 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+require  'pathname'
 # Constants.
 LIBRARY_VERSION = '@PROJECT_VERSION_FULL@'
 COMMANDS = {
@@ -28,9 +29,8 @@ class Cmd
     command = args[0]
     exe_name = COMMANDS[command]
 
-    if exe_name[0] == '/'
-      # If the first character is a slash, we'll assume that we've been given an
-      # absolute path to the executable. This is only used during test mode.
+    if Pathname.new(exe_name).absolute?
+      # The exe_name can be absolute path during test. We'll leave it unchanged
     else
       # We're assuming that the library path is relative to the current
       # location of this script.