Adding kdbserver

src/kdbserver.py

+#!/usr/bin/env python
+
+import rospy
+
+from util.kdbutil import *
+
+def victim_callback(event):
+    print "VICTIM_CALLBACK"
+    bindings = {"%object_klass": "victim"}
+    ns = rospy.get_namespace ().rstrip("/")
+    resp = query_database(ns, json.dumps(bindings), query_get_salient_objects())
+    if resp.success:
+        ids, gps = get_gps_from_query_result (resp.result)
+        for i in range(len(ids)):
+            id = ids[i]
+            prefix = "http://www.ida.liu.se/divisions/aiics/"
+            if id.startswith(prefix):
+                id = id[len(prefix):]
+            id_gp = IdGeoPoint(id, gps[i])
+            id_geopoint_pub.publish(id_gp)
+    else:
+        print "FAILURE", resp
+
+if __name__ == "__main__":
+
+    rospy.init_node ("kdbserverpy")
+
+    id_geopoint_pub = rospy.Publisher("/id_geopoint", IdGeoPoint, queue_size=10)
+
+    rospy.Timer(rospy.Duration(5), victim_callback)
+
+    print "Spinning kdbserverpy"
+
+    rospy.spin()