ROS_Robot/gazebo_models
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Updating the model database server

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This commit is contained in:
Nate Koenig 2012-09-13 16:14:45 -07:00
parent 482b65f16c
commit 8160b65e6c
2 changed files with 26 additions and 12 deletions
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23
server/manifest.xml
View File

@ -1,7 +1,22 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<models> <models>
<model>turtlebot</model> <model>
<model>willowgarage</model> <name>Turtle Bot</name>
<model>kinect</model> <path>turtlebot</path>
<model>pioneer2dx</model> </model>
<model>
<name>Willow Garage</name>
<path>willowgarage</path>
</model>
<model>
<name>Kinect</name>
<path>kinect</path>
</model>
<model>
<name>Pioneer2 DX</name>
<path>pioneer2dx</path>
</model>
</models> </models>

15
server/server.py
View File

@ -8,10 +8,10 @@ from xml.dom import minidom
import request_pb2 import request_pb2
TCP_IP = '127.0.0.1' TCP_IP = '127.0.0.1'
TCP_PORT = 50199 TCP_PORT = 50198
BUFFER_SIZE = 1024 BUFFER_SIZE = 1024
models = [] models = {}
################################################# #################################################
# Read the main manifest file # Read the main manifest file
@ -20,10 +20,9 @@ def read_manifest():
model_list = xmldoc.getElementsByTagName("model") model_list = xmldoc.getElementsByTagName("model")
for model in model_list: for model in model_list:
model_name = model.childNodes[0].data model_name = model.getElementsByTagName("name")[0].childNodes[0].data
models.append(model_name) model_path = model.getElementsByTagName("path")[0].childNodes[0].data
models[model_name] = model_path
read_manifest() read_manifest()
@ -52,8 +51,8 @@ while 1:
model_list_msg = request_pb2.ModelList() model_list_msg = request_pb2.ModelList()
response.type = model_list_msg.DESCRIPTOR.full_name response.type = model_list_msg.DESCRIPTOR.full_name
for m in models: for key in models:
model_list_msg.model.append(m) model_list_msg.model.append(key)
response.data = model_list_msg.SerializeToString() response.data = model_list_msg.SerializeToString()
print "Response Size:", len(response.SerializeToString()) print "Response Size:", len(response.SerializeToString())