[Fiware-robotics] R: R: R: Robotics call?

[fabio.dibenedetto at consoft.it]

Thank you for the explanation, dealing with the context broker seems little tricky and I still don't understand the use of %27: doesn't the context broker use json? Anyway for what concern the namespace the problem is that you work on 2 worlds the ros one and the context broker one: you can force ros world use the namespace only because the context broker word need it

In the topicHandler I changed this so that turtlebotTI can use the version without namespace
if robotName == "turtlebotTI":
                    ROBOT_TOPICS[robotName]["publisher"][topicName]["publisher"] = rospy.Publisher(topicName, theclass, queue_size=DEFAULT_QUEUE_SIZE)
                else:
                    ROBOT_TOPICS[robotName]["publisher"][topicName]["publisher"] = rospy.Publisher(robotName + "/" + topicName, theclass, queue_size=DEFAULT_QUEUE_SIZE)

I think the solution you did is correct if you want run more than one robot in a single roscore because you have to separate each robot context and so use different namespaces but using rcm in our solution means to have this problem already resolved because for every robot creates a different ros context in which work (each robot has its own service space and so ros core to dealing with): in this situation you need namespaces only in the context broker world

Da: Iñigo Gonzalez [mailto:igonzalez at ikergune.com]
Inviato: mercoledì 29 luglio 2015 09:17
A: fabio.dibenedetto at consoft.it; fiware-robotics at lists.fi-ware.org
Oggetto: Re: [Fiware-robotics] R: R: Robotics call?

Hi,

I will explain what happens. In firos v1 we sent as an attribute's value the "data encoded in JSON". The reason was that if it was a pure JSON the context broker changes the numeric data to string. So we coded it in json changing the double quotes by simple quote. And FIROS when received that data it replaced the simple quote by double quote and decoded the json string.

The new context broker version doesn't allow to add some characters to the value field, and one of them was simple quotes. So we decided to change the replacement character by %27. So now the value from the webapp must be sent with %27 instead of simple quote and as you can see here at line 68 https://github.com/Ikergune/firos/blob/master/scripts/include/constants.py FIROS will search for the SEPARATOR_CHAR (%27) replace it and decode the JSON, as you see in line 122 in https://github.com/Ikergune/firos/blob/master/scripts/include/pubsub/contextbroker/cbSubscriber.py

As you were working with the old web-app (sending simple quote) and FIROS v2 (searching fo %27) there was no replacement, so the error you are receiving is right, as there wasn't any %27 there was no replacement to add double quotes, so it returns an error of "no double quotes found".

As I said this was to add support for the new context broker, the old one supports simple quotes, %27 and many other things.

In fact, when you were using our context broker for the first demo we were working on the integration with the new context broker version, and I also tried it with the old context broker and it worked. The funny thing was that you were also publishing data to that context broker instance, and I could move the robot using my web-app, but I also received Telecom Italia's data and that data returned the error Fabio said (as the separator characters were different.)

As Davide said, just changing the simple quote for %27 should be enough. I will send you what I sent you before with the new separation character so you can test it.

Also, maybe it will be a good idea that telecom italia open an issue on github for the changes Fabio proposed, so the GE can so more activity in other places in addition the mailing list.

About the namespaces, maybe you don't need namespaces to identify a robot, but context broker needs (each robot is an entity, and is mandatory that each entity has a name). So as I said before this is something we will have to discuss later.

Regards,
Iñigo

On 28/07/15 17:24, fabio.dibenedetto at consoft.it<mailto:fabio.dibenedetto at consoft.it> wrote:
For what I remember after 3 days of try the last thing I received from firos last version using the old context broker we used was
errorExpecting property name enclosed in double quotes: line 1 column 2 (char 1)
Expecting property name enclosed in double quotes: line 1 column 2 (char 1)
errorExpecting property name enclosed in double quotes: line 1 column 2 (char 1)
Expecting property name enclosed in double quotes: line 1 column 2 (char 1)

If you say that even this message the context broker received what he had to, I trust you but I haven't seen the robot moving so for my point of view the test failed (and the demo couldn't be done in that way). Anyway soon or later we have to let rcmdriver and firos interact together, so if you can use the version of robotics_msgs I sent you some time ago instead the internal version of msg and service you used could be good also because I followed the specification. Furthermore I did a modification in firos to avoid the use of mandatory namespace you had: would be good if you can use something like that too.

Fabio

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 Iñigo Gonzalez
Inviato: martedì 28 luglio 2015 15:23
A: Bollano Gianmario; Colombatto Davide; fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>
Oggetto: Re: [Fiware-robotics] R: Robotics call?

Hi,

In relation with the action points that are related to etxetar:
AP1: We will work on it, we have to check what Fabio said.
AP2:

  1.  The new version of FIROS is compatible with the new version of the contextborker, but it is also compatible with the old one, so you don't need the ip you are asking for.
  2.  To test FIROS new version it is not needed any web app, you can post data to the contextbroker (as it was done with the old version) the differene is that before inside each attributes value there was an object which strings were between simple quote and now we use '%27'. For example --> value: {'angular': 'x': 5, 'y': 6}. And now it will be --> value: {%27angular%27: %27x%27: 5, %27y%27: 6}

Regards,
Iñigo

On 28/07/15 10:34, Bollano Gianmario wrote:
Very well Davide,
let me summarize the Action Points:

AP0: @All : Complete the retrospectives, Davide will collect them
AP1: @ET: Release an updated FIROS (by e-mail or with update on Github) with fixes suggested by Fabio to be compliant with Open Specs draft
AP2: @ET: Provide the public IP address for the actual version of Orion-CB and for WebApp currently used to test the updated FIROS
AP3: @TI: Test the interaction between RCM and updated FIROS, with the current version of Orion-CB and Webapp

Gianmario


Da: Colombatto Davide
Inviato: martedì 28 luglio 2015 10:20
A: Bollano Gianmario; fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>
Cc: fabio.dibenedetto at consoft.it<mailto:fabio.dibenedetto at consoft.it>
Oggetto: R: Robotics call?

Hi,

I agree to skip the Robotics call today.

I would simply remind two things:

1.       @All: Complete the retrospectives so I will able to collect them

2.       @ET: Some time ago Fabio sent you some feedbacks related to FIROSv2 in github (e.g. it was no completely compliant to the OpenSpec draft and maybe it didn't manage the ROS Service exchange).

We are waiting the new version of FIROS compliant with the OpenSpec draft (Fabio also sent you the package containing the correct ROS messages defined) in order to really test the "RCM-FIROS Interaction". Nowadays he tested this interaction using a mock ROS node which simulated FIROS interaction within the ROS environment (pub/sub and the service).

Moreover, since FIROSv2 is implemented to talk with the new version of Orion-CB (FIROSv1 worked with the old one), we also need the public IP of the Orion-CB and the web-app you are using to test FIROSv2

Thank you,
Davide

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 Bollano Gianmario
Inviato: martedì 28 luglio 2015 09:59
A: fiware-robotics at lists.fi-ware.org<mailto:fiware-robotics at lists.fi-ware.org>
Oggetto: [Fiware-robotics] Robotics call?

Hi all,
I'd skip the weekly Robotics call, if you don't have objections or specific issues to discuss.
Please, let me know if you want to discuss some specific issue and would prefer to have the Robotics call instead.

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Telecom Italia
Gianmario Bollano
Innovation - Mobile Devices & Sim Applications
Via Reiss Romoli, n° 274
Cap 10151 Torino
Phone 011 228 7103
Cell Phone 3316015048

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