cleaned dockerfile and renamed actions

Author: Sascha Jongebloed

Dockerfile

@@ -4,8 +4,10 @@ MAINTAINER Sascha Jongebloed, jongebloed@uni-bremen.de
 ENV SWI_HOME_DIR=/usr/lib/swi-prolog
 ENV LD_LIBRARY_PATH=/usr/lib/swi-prolog/lib/x86_64-linux:$LD_LIBRARY_PATH
 
-RUN apt update
 RUN apt-get update && apt-get install -y \
+    software-properties-common && \
+    apt-add-repository ppa:swi-prolog/stable && \
+    apt-get update && apt-get install -y \
     gdb \
     g++ \
     clang \
@@ -14,24 +16,28 @@ RUN apt-get update && apt-get install -y \
     libeigen3-dev \
     libspdlog-dev \
     libraptor2-dev \
+    librdf0-dev \
+    libgtest-dev \
+    libboost-python-dev \
+    libboost-serialization-dev \
+    libboost-program-options-dev \
+    libfmt-dev \
     mongodb-clients \
     libmongoc-1.0-0 \
     libmongoc-dev \
-    libfmt-dev \
-    software-properties-common \
+    doxygen \
+    graphviz \
     python3 \
     python3-dev \
     python3-pip \
     python3-venv \
     python-is-python3 \
     python3-catkin-pkg \
     python3-catkin-tools \
-    git
-RUN apt install -y ros-noetic-catkin 
-
-RUN apt-add-repository ppa:swi-prolog/stable
-RUN apt update
-RUN apt install -y swi-prolog*
+    git \
+    ros-noetic-catkin \
+    ros-noetic-tf2-geometry-msgs \
+    swi-prolog*
 
 # KnowRob dependencies
 RUN apt install -y swi-prolog libspdlog-dev \
@@ -47,7 +53,7 @@ RUN mkdir /catkin_ws/src
 # Build workspace with knowrob
 WORKDIR /catkin_ws/src
 RUN git clone https://github.com/knowrob/knowrob.git
-RUN git clone https://github.com/sasjonge/knowrob_ros.git
+RUN git clone https://github.com/knowrob/knowrob_ros.git
 WORKDIR /catkin_ws
 RUN /usr/bin/catkin init
 RUN . /opt/ros/noetic/setup.sh && /usr/bin/catkin build

scripts/knowrob_designator_client.py

@@ -10,7 +10,7 @@
 def main():
     rospy.init_node('designator_resolve_test_client')
 
-    client = actionlib.SimpleActionClient('/knowrob/designator_resolving_started', DesignatorResolutionStartAction)
+    client = actionlib.SimpleActionClient('/knowrob/designator/resolving_started', DesignatorResolutionStartAction)
     rospy.loginfo("Waiting for action server...")
     client.wait_for_server()
 

scripts/knowrob_designator_service.py

@@ -23,13 +23,13 @@ def __init__(self):
 
         # Start an action server for each action type
         self.init_server = actionlib.SimpleActionServer(
-            'knowrob/designator_init',
+            '/knowrob/designator/init',
             DesignatorInitAction,
             execute_cb=self.handle_init,
             auto_start=False
         )
         self.resolve_start_server = actionlib.SimpleActionServer(
-            'knowrob/designator_resolving_started',
+            '/knowrob/designator/resolving_started',
             DesignatorResolutionStartAction,
             execute_cb=self.handle_resolve_start,
             auto_start=False
@@ -41,13 +41,13 @@ def __init__(self):
             auto_start=False
         )
         self.exec_start_server = actionlib.SimpleActionServer(
-            'knowrob/designator_execution_start',
+            '/knowrob/designator/execution_start',
             DesignatorExecutionStartAction,
             execute_cb=self.handle_exec_start,
             auto_start=False
         )
         self.exec_finished_server = actionlib.SimpleActionServer(
-            'knowrob/designator_execution_Finished',
+            '/knowrob/designator/execution_finished',
             DesignatorExecutionFinishedAction,
             execute_cb=self.handle_exec_finished,
             auto_start=False