def mapPublisher():
## \brief Obtain map topics and publsh their link into context broker
maps = RosConfigurator.getMapTopics()
cb_maps = [
{
"name": "websocket",
"type": "connection",
"value": "ws://{}:{}".format(IP, ROSBRIDGE_PORT)
}
]
if(MAP_SERVER_PORT):
cb_maps.append({
"name": "socketio",
"type": "connection",
"value": "http://{}:{}".format(IP, MAP_SERVER_PORT)
})
for map_topic in maps:
CloudPublisher.publishMap(map_topic, cb_maps)
def mapRemover():
## \brief Delete map topics from context broker
maps = RosConfigurator.getMapTopics()
for map_topic in maps:
CloudSubscriber.deleteEntity(map_topic, "MAP", False)
