[Fiware-robotics] R: Robotics call?

[Iñigo Gonzalez]

Hi everyone,

we have been developing the changes in FIROS and we have checked the minutes and the openspec draft to see if everything is correct. Here you have the process to check if it is what you told.


 *   FIROS starts and it subscribes to "/rcm/robot_event" topic to listen for robot connection/disconnection
 *   FIROS receives a robot connection, for example: {
    instance_name: 'robot3',
    instance_status: 1
}
 *   Then FIROS asks to RCM using the "/firos_info" service for the robots topics
 *   RCM returns all the robots topics in this format: {
    "robot3": {
        "topics": [
            {
                "name": "cmd_vel_mux/input/teleop",
                "msg": "geometry_msgs/Twist",
                "type": "publisher"
            },
            {
                "name": "move_base/goal",
                "msg": "move_base_msgs/MoveBaseActionGoal",
                "type": "publisher"
            },
            {
                "name": "move_base/result",
                "msg": "move_base_msgs/MoveBaseActionResult",
                "type": "subscriber"
            }
        ]
    }
}
 *   FIROS parses the data and checks it with its whitelist to filter the topics that aren't needed and subscribes to the topics that passed through the whitelist.


 *   When FIROS finishes the processing will send to RCM a msg using the using the "/firos/cb_event" topic with the data: {
    instance_name: "robot3",
    entity_status: 1
}
 *   When FIROS receives a robot disconnection through "/rcm/robot_event" topic FIROS will disconnect the subscriptions to the robot and delete context broker data
 *   After that it will send to RCM a msg using the using the "/firos/cb_event" topic with the data: {
    instance_name: "robot3",
    entity_status: 0
}

Regards, Iñigo

On 04/08/15 11:12, Colombatto Davide wrote:

Hi all,

as said by Fabio we indicated some of suggestion related to FIROSv2 below the APs of the old minute (link is https://docs.google.com/document/d/1CAwhNqoMf7KnP_yHjITo2gRrVoWCKMsthiWX3ZWWLHo/edit)

BR
Davide.


-----Messaggio originale-----
Da: fiware-robotics-bounces at lists.fi-ware.org<mailto:fiware-robotics-bounces at lists.fi-ware.org> [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di fabio.dibenedetto at consoft.it<mailto:fabio.dibenedetto at consoft.it>
Inviato: martedì 4 agosto 2015 10:41
A: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>
Oggetto: [Fiware-robotics] R: Robotics call?

Me too, I don't know if we're skipping the call, but in any case, try to see the old minute: there is something to do on firos to let us go on on the tests of interaction. I can send you the rcm driver and a tester who simulates firos behavior for what concern the openspec: you could use it to modify the parts of subscriptions and services needed to work with robotics_msgs package used to interact with each other. The other thing is about the port parameter passed to firos: you need to cast the port int(port) because socket server and so http server in python use the tuple address and port with port int: make sure that this parameter is passed to cb in case you receive that because seems that for now it isn't. If you'd like I'll send you the nodes I said before Fabio


-----Messaggio originale-----
Da: fiware-robotics-bounces at lists.fi-ware.org<mailto:fiware-robotics-bounces at lists.fi-ware.org> [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di Jose Jaime Ariza
Inviato: martedì 4 agosto 2015 10:24
A: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>
Oggetto: [Fiware-robotics] Robotics call?

Hi,

I've not received the hangout invitation, so I suppose we're skipping today's call.

Please, correct me if I'm wrong.

BR

--
José Jaime Ariza
R&D Engineer
+34 696604288
Ikergune, Etxe-Tar group

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