[Fiware-robotics] R: I: CB-Proxy

[Colombatto Davide]

Hi Iñigo,

Ok, you can change the doc in Google Docs, finally I suppose you propose the following changes:

·         rcm/robot_event           (topic)

·         rcm/firos_info                 (service)

·         firos/cb_event                (topic)

What about the packages for ROS messages: do you agree to maintain a unique package for ROS messages shared btw RCM and FIROS? In the documents we called it "rcm_msgs"; do you prefer something like "robotics_msgs"?

Thanks,
Davide


Da: Iñigo Gonzalez [mailto:igonzalez at ikergune.com]
Inviato: lunedì 20 aprile 2015 14:06
A: Colombatto Davide
Cc: fiware-robotics at lists.fi-ware.org; Garino Pierangelo
Oggetto: Re: I: CB-Proxy

Hi Davide, I answer you on your mail:

On 20/04/15 10:48, Colombatto Davide wrote:
Hi Inigo,

Sorry, but for unknown problems me and Roberto didn't receive your response below last week (Fabio received it and shows us your email).


Related to your questions about FIROS-RMC Integration:

1.      I don't understand what is the use of your topics /firos/connect and /firos/disconnect; should they replace the /cb_event or you only say to modify /cb_event in firos/cb_event?

N.B. /cb_event (or firos/cb_event) should be the event which notifies the correct creation/deletion of the robot entity in the CB (performed by FIROS)
        Those topics won't replace any of the ones you said. We did a little temporary watchdog to understand how robots work on ROS and those topics were done to notify firos about robot connection and disconnection. We have created the topics you said, and we also reused code of our previous topics to do the tasks you said. The modification I mean was to do a /firos/cb_event instead of /cb_event and calling both attributtes with entity




2.      I agree to call both "entity" but I'd like to highlight that the following String must be the same in the lifecycle of a Robot Connection process:

RCM -> FIROS   instance_name  of rcm_msgs/RCM_Event

FIROS -> RCM   robot_name of rcm_msgs/FIROS_Info

FIROS -> RCM   instance_name/entity_name of rcm_msgs/CB_Event



All of them values have to be referred to the robot name (i.e. instance_name  of rcm_msgs/RCM_Event). In particular the entity name in the CB should be the same received as instance_name  of rcm_msgs/RCM_Event. Are you agree?
            Ok



After these clarifications, you can modify the documents of Google Docs.

Thanks,
Davide

Regards,
Iñigo
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