src/robot_interface/endpoints/actuation_receiver.py

@@ -6,7 +6,7 @@ from robot_interface.endpoints.receiver_base import ReceiverBase
 
 
 class ActuationReceiver(ReceiverBase):
-    def __init__(self, zmq_context, port=5556):
+    def __init__(self, zmq_context, port=5557):
         """
         The actuation receiver endpoint, responsible for handling speech and gesture requests.
 
@@ -17,7 +17,8 @@ class ActuationReceiver(ReceiverBase):
         :type port: int
         """
         super(ActuationReceiver, self).__init__("actuation")
-        self.create_socket(zmq_context, zmq.SUB, port, options=[(zmq.SUBSCRIBE, u"")])
+        self.create_socket(zmq_context, zmq.SUB, port)
+        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")
         self._tts_service = None
 
     def _handle_speech(self, message):

src/robot_interface/endpoints/main_receiver.py

@@ -53,7 +53,7 @@ class MainReceiver(ReceiverBase):
 
         if message["endpoint"] == "ping":
             return self._handle_ping(message)
-        elif message["endpoint"].startswith("negotiation"):
+        elif message["endpoint"].startswith("negotiate"):
             return self._handle_negotiation(message)
 
         return {"endpoint": "error", "data": "The requested endpoint is not supported."}