Update the repository to the latest version used for the real experiments

CMakeLists.txt

@@ -9,7 +9,8 @@ catkin_python_setup()
 
 add_service_files(
    FILES
-   Scan.srv
+   GetROSModel.srv
+   GetROSSystemModel.srv
 )
 
 generate_messages()
@@ -18,10 +19,6 @@ catkin_package(
    CATKIN_DEPENDS message_runtime
 )
 
-install(DIRECTORY launch
-   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
 catkin_install_python(PROGRAMS scripts/ros_node
                                 scripts/print_snapshot
                                 scripts/java_snapshot

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>ros_graph_parser</name>
   <version>0.0.1</version>
   <description>parser of ros graph</description>
@@ -12,12 +12,13 @@
 
 
   <buildtool_depend>catkin</buildtool_depend>
-  
+
   <build_depend>message_generation</build_depend>
 
-  <exec_depend>message_runtime</exec_depend>  
+  <exec_depend>message_runtime</exec_depend>
   <exec_depend>rospy</exec_depend>
-  <exec_depend>python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
 
   <export>
 

scripts/ros_node

@@ -8,26 +8,24 @@ import rospy
 class RosGraphNode():
 
     def __init__(self):
-        rospy.Service('scan_ros_graph', rg_srv.Scan, self.create_snapshot)
-
-    def create_snapshot(self, request):
-        answer = rg_srv.ScanResponse()
-        answer.success, answer.message, answer.rosgraph = self._create_snapshot()
+        rospy.Service('get_ros_model', rg_srv.GetROSModel,
+                      self.get_ros_model)
+
+        rospy.Service('get_rossystem_model', rg_srv.GetROSSystemModel,
+                      self.get_rossystem_model)
+
+    def get_ros_model(self, request):
+        answer = rg_srv.GetROSModelResponse()
+        answer.success, answer.message, answer.model = rg.create_java_ros_model()
         return answer
 
-    def _create_snapshot(self):
-        try:
-            snapshot = rg.create_ros_graph_snapshot()
-            dump = dict()
-            dump['nodes']=dict()
-            for node in snapshot:
-                dump['nodes'][node.name] = node.dump_yaml()
-            return True, "Scanning Succeeded", str(dump)
-        except:
-            return False, "Scanning Failed", ""
+    def get_rossystem_model(self, request):
+        answer = rg_srv.GetROSSystemModelResponse()
+        answer.success, answer.message, answer.model = rg.create_java_system_model()
+        return answer
 
 
 if __name__ == "__main__":
     rospy.init_node("ros_graph_parser_node")
     RosGraphNode()
-    rospy.spin()
+    rospy.spin()