changed responses format

src/init/ros2_master.py

@@ -69,6 +69,10 @@ def cmd_callback(req,res):
   print("Parsed command:")
   print(q)
 
+  if q['cmd']=='list':
+    res.response = '<?xml version="1.0"?><document>'+'\n'.join(['<target>'+c+'</target>' for c in q['targets']])+'</document>'
+    return res
+
   if q['cmd']=='state':
     cmd_func = pass_cmd
   
@@ -88,7 +92,7 @@ def cmd_callback(req,res):
 
     # if n/a
     if not cli.wait_for_service(timeout_sec=1.0):
-      cmdres = "<response><node>"+tgt+"</node><state>dead</state></response>"
+      cmdres = "<response><node>"+t+"</node><state>dead</state></response>"
     else:
       # timer?!
       timer = g_node.create_timer(0.0, cmd_func, callback_group=cb_group)
@@ -100,12 +104,12 @@ def cmd_callback(req,res):
       # spin until it gets "blue"
       while rclpy.ok() and not did_get_result:
         rclpy.spin_once(g_node)
-      cmdres = cmd_result.response
+      cmdres  = "<response><node>"+t+"</node>"+cmd_result.response+"</response>"
     # store response
     reslist.append(cmdres)
 
   # convert to string
-  res.response = '\n'.join(reslist)
+  res.response = '<?xml version="1.0"?><document>'+'\n'.join(reslist)+'</document>'
   return res
 
 

src/init/ros2_slave.py

@@ -32,7 +32,7 @@ def cmd_callback(req,res):
   print(q)
 
   if q['cmd']=='state':
-    res.response = '<response><node>'+nodename+'</node><state>idle</state></response>'
+    res.response = '<state>idle</state>'
   else:
     # call to localhost here, get response and send it back
     try:
@@ -40,7 +40,7 @@ def cmd_callback(req,res):
     except subprocess.CalledProcessError:
       output = "<error>CalledProcessError</error>".encode()
 
-    res.response = '<response><node>'+nodename+'</node><state>'+output.decode()+'</state></response>'
+    res.response = '<state>'+output.decode()+'</state>'
 
   print('Slave sending: '+res.response)