Minor modifications.

src/rosplan_pytools/controller/nodes/ros_server_connection.py

@@ -37,21 +37,6 @@ def add_element(self, name, message, metadata=''):
             return False
 
         msg_value = message_converter.convert_ros_message_to_dictionary(message)
-
-        # def replace_types_in_dictionary(dictionary):
-        #
-        #     for k, v in dictionary.iteritems():
-        #         if type(v) is dict:
-        #             replace_types_in_dictionary(dictionary[k])
-        #         else:
-        #             if type(v) is float64:
-        #                 dictionary[k] = float(v)
-        #
-        #     return dictionary
-        #
-        # print msg_value
-        # msg_value = replace_types_in_dictionary(msg_value)
-
         element = {'name': name, 'metadata': metadata, 'uuid': str(uuid.uuid4()),
                    'msg_type': message.__class__._type,'msg_value': msg_value}
 
@@ -182,3 +167,17 @@ def _find_element_by_name(self, name):
             element_id = -1
 
         return element_key, element_id
+
+    # def _replace_types_in_dictionary(dictionary):
+    #
+    #     for k, v in dictionary.iteritems():
+    #         if type(v) is dict:
+    #             replace_types_in_dictionary(dictionary[k])
+    #         else:
+    #             if type(v) is float64:
+    #                 dictionary[k] = float(v)
+    #
+    #     return dictionary
+    #
+    # print msg_value
+    # msg_value = replace_types_in_dictionary(msg_value)

src/rosplan_pytools/controller/nodes/scene_database.py

@@ -20,10 +20,7 @@ class ServiceNames(object):
 
 class SceneDatabase(object):
 
-    def __init__(self, sdb_name, service_prefix):
-
-        if sdb_name is None:
-            sdb_name = 'scene_database'
+    def __init__(self, service_prefix, sdb_name='scene_database'):
 
         self._lock = Lock()
         self._ros_server = RosServerConnection(sdb_name)
@@ -154,6 +151,11 @@ def _remove_all_elements(self):
 def start_node(name):
 
     try:
+
+        NODE_NAME = name
+        SERVICE_NAME = name
+        DATABASE_NAME = name
+
         rospy.init_node(name)
         SceneDatabase(name, name)
         rospy.spin()