I am running a web application that connects to ROS and streams images and
data from rostopics. To send and receive ROS data in python with rospy,
you need to call the init_node() function (e.g. rospy.init_node('web2py',
anonymous=True, disable_signals=True) ). This function basically hangs and
doesn't release, so I create another thread that calls this function so
that I can send and receive ROS messages in my web2py application, and it
should only be called once. The problem is, ROS doesn't provide a check to
see if I have already called the init_node function. So the question is
where to put the initial call to init_node and not call it again during the
time the server is running. I would set it up as a session variable, but
the session can end even if the server is still running and a new session
would try to call it again. I could put it in the database, but then it
would be persistent even after I shut down the server and restarted. I am
looking for an init function that gets called when the server starts. It
is also good practice to shutdown ROS when I close the server, so I am also
looking for a shutdown function.
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Resources:
- http://web2py.com
- http://web2py.com/book (Documentation)
- http://github.com/web2py/web2py (Source code)
- https://code.google.com/p/web2py/issues/list (Report Issues)
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