Merge pull request #20 from iml130/development

Development Into Master (Issues fixed)

CMakeLists.txt

@@ -9,23 +9,6 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
 )
 
-## Generate messages in the 'data/ros_msgs' folder
-add_message_files(
-  DIRECTORY 
-  data/ros_msgs
-  FILES
-  Robot_Event.msg
-  CB_Event.msg
-)
-
-## Generate services in the 'data/ros_service_info' folder
-add_service_files(
-  DIRECTORY 
-  data/ros_service_info
-  FILES
-  FIROS_Info.srv
-)
-
 ## Generate messages which firos depends on
 generate_messages(
   DEPENDENCIES

README.md

@@ -66,3 +66,7 @@ Dominik Lux, Peter Detzner
 FIROS-Helping Robots to be Context Aware
 ([Slideshare](https://de.slideshare.net/FI-WARE/fiware-global-summit-FIROS-helping-robots-to-be-context-aware),
 28.11.2018 FIWARE Global Summit, Malaga)
+
+FIROS-Helping Robots to be Context Aware II
+([Slideshare](https://de.slideshare.net/FI-WARE/fiware-global-summit-firos-making-robots-context-aware),
+21.05.2019 FIWARE Global Summit, Genova)

firos/core.py

@@ -81,10 +81,8 @@
     from include import confManager
     from include.logger import Log, initLog
     from include.server.firosServer import FirosServer
-
+    
     from include.ros.topicHandler import RosTopicHandler, loadMsgHandlers, createConnectionListeners, initPubAndSub
-    from include.rcm.topicManager import TopicManager
-
 
     # Overwrite global variables with command line arguments (iff set)
     if results.port is not None:
@@ -109,7 +107,6 @@
     Log("INFO", "Initialized")
 
 
-    toMa = TopicManager()
 
     try:
         server = FirosServer("0.0.0.0", C.MAP_SERVER_PORT)
@@ -119,7 +116,6 @@
         def signal_handler(signal, frame):
             Log("INFO", ('\nExiting from the application'))
             RosTopicHandler.unregisterAll()
-            toMa.removeListeners()
             server.close()
             Log("INFO", ('\nExit'))
             sys.exit(0)

firos/include/confManager.py

@@ -34,9 +34,10 @@ def getRobots(refresh=False):
         robots we might send a lot of data. 
     '''
     try:
-        #Retrieves the whitelist.json. If it does not exists, it returns all topics.
+        # Retrieves the whitelist.json. If it does not exists, it returns all topics.
         robots = copy.deepcopy(RosConfigurator.systemTopics(refresh))    
-        #Retrieves the robots.json.
+
+        # Retrieves the robots.json.
         robots_json = getRobotsByJson()
         if len(robots_json) == 0: 
             Log("ERROR", "The file 'robots.json' is either empty or does not exist!\n\nExiting")
@@ -52,10 +53,12 @@ def getRobots(refresh=False):
             for topic_name in robots_json[robot_name]["topics"]:
                 topic = robots_json[robot_name]["topics"][topic_name]
 
+                # Overwrite or add!
                 robots[robot_name]["topics"][str(topic_name)] = {
-                    "msg": str(topic["msg"]) if type(topic["msg"]) is str else topic["msg"],
+                    "msg": str(topic["msg"]),
                     "type": str(topic["type"])
                 }
+
         return robots
 
     except Exception as e: