[Backlogmanager] [FIWARE-JIRA] (HELP-18037) [fiware-stackoverflow] FIWARE FIROS Publish cmd_vel from Non-ROS-World

[Fernando Lopez (JIRA)]

     [ https://jira.fiware.org/browse/HELP-18037?page=com.atlassian.jira.plugin.system.issuetabpanels:all-tabpanel ]

Fernando Lopez reassigned HELP-18037:
-------------------------------------

    Assignee: Peter Detzner  (was: Francisco Melendez)

> [fiware-stackoverflow] FIWARE FIROS Publish cmd_vel from Non-ROS-World
> ----------------------------------------------------------------------
>
>                 Key: HELP-18037
>                 URL: https://jira.fiware.org/browse/HELP-18037
>             Project: Help-Desk
>          Issue Type: Monitor
>          Components: FIWARE-TECH-HELP
>            Reporter: Backlog Manager
>            Assignee: Peter Detzner
>              Labels: fiware, robot, ros
>
> Created question in FIWARE Q/A platform on 20-07-2021 at 12:07
> {color: red}Please, ANSWER this question AT{color} https://stackoverflow.com/questions/68454628/fiware-firos-publish-cmd-vel-from-non-ros-world
> +Question:+
> FIWARE FIROS Publish cmd_vel from Non-ROS-World
> +Description:+
> Within firos turtlesim example (https://firos.readthedocs.io/en/latest/install/turtlesim-example.html) I'm trying to publish msg on /turtle1/cmd_vel topic from Non-ROS-World trough POST request in order to move the robot.
> However I'm not sure how to do that because when I start firos/core.py the list of entities created is:
> {"id":".turtle1.pose","type":"turtlesim%2FPose","angular_velocity":{"type":"number","value":0,"metadata":{"dataType":{"type":"dataType","value":"float32"}}},"linear_velocity":{"type":"number","value":0,"metadata":{"dataType":{"type":"dataType","value":"float32"}}},"theta":{"type":"number","value":0,"metadata":{"dataType":{"type":"dataType","value":"float32"}}},"x":{"type":"number","value":5.544444561,"metadata":{"dataType":{"type":"dataType","value":"float32"}}},"y":{"type":"number","value":5.544444561,"metadata":{"dataType":{"type":"dataType","value":"float32"}}}}
> And the list of subscriptions is:
> {"id":"XXXX","expires":"2021-06-09T22:10:17.000Z","status":"active","subject":{"entities":[{"id":".turtle1.cmd_vel","type":"geometry_msgs%2FTwist"}],"condition":{"attrs":[]}},"notification":{"attrs":["linear","angular"],"onlyChangedAttrs":false,"attrsFormat":"normalized","http":{"url":"http://XXX.XXX.X.XXX:YYYYY"}}}
> None entity with .turtle1.cmd_vel id is created, so that I don't know how to update for example linear attr. Do I have to create .turtle1.cmd_vel entity manually first and update attr after? I tried it:
> curl -iX POST \
>   'http://localhost:1026/v2/entities' \
>   -H 'Content-Type: application/json' \
>   -d '
> {
>     "id": ".turtle1.cmd_vel",
>     "type": "geometry_msgs%2FTwist",
>     "linear": {
>         "type": "float64",
>         "value": {
>             "x": "1",
>             "y": "0",
>             "z": "0"
>         }
>     },
>     "angular": {
>         "type": "float64",
>         "value": {
>              "x": "0",
>              "y": "0",
>              "z": "0"
>         }
>     }
> }'
> but I got errors.



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