fix #77

event.py

@@ -1,8 +1,6 @@
 import logging
 import threading
-import rospy
-import std_msgs
-import json
+from pubsub import pub 
 
 class EventManager:
     _instance = None
@@ -14,42 +12,24 @@ def get_instance(cls, node_name=None):
 
     def __init__(self, node_name):
         self._node_name = node_name
-        rospy.init_node(node_name, anonymous=True, disable_signals=True)
-        self._publishers = {}
         self._event_generators = []
-        self._event_listeners = []
 
-    def publish(self, topic, message):
-        publisher = self._publishers.get(topic)
-        if publisher is None:
-            publisher = rospy.Publisher("/" + topic, std_msgs.msg.String, queue_size=10)
-            self._publishers[topic] = publisher
-        publisher.publish(json.dumps(message))
+    def publish(self, topic, msg):
+        pub.sendMessage(topic, message=msg)
 
     def register_event_listener(self, topic, callback):
-        self._event_listeners.append(rospy.Subscriber("/" + topic, std_msgs.msg.String, callback))
+        pub.subscribe(callback, topic)
 
     def register_event_generator(self, generator_func):
         generator = threading.Thread(target=generator_func)
         self._event_generators.append(generator)
         generator.start()
 
     def unregister_listeners(self):
-        for subscriber in self._event_listeners:
-            try:
-                subscriber.unregister()
-            except:
-                logging.error("unable to unregister subscriber")
-        self._event_listeners = []
+        pub.unsubAll()
 
     def unregister_publishers(self):
-        for publisher in self._publishers:
-            try:
-                publisher.unregister()
-            except:
-                logging.error("unable to unregister publisher")
-        self._event_listeners = []
-
+        pass
 
     def start_event_generators(self):
         for g in self._event_generators: