Does any main public FIWARE POI server exist ? Can I use in my application some public FIWARE POI server without creating my own one ?
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A public FIWARE POI server is at http://poi.lab.fiware.org/poi_dp . The data is public, but it is read-only for the public to keep the things simple. You can use a demo browser http://poi.lab.fiware.org/pois/ to view the POIs on the map. There is a POI editor http://poi.lab.fiware.org/pois/edit_poi.html for viewing detailed data, but the public cannot save the modifications.
Status 2016-06-09: Populating with European POIs
To store your own POIs it is recommended to set-up an own POI server. If you are in FIWARE, FICORE, etc. you might spawn a FIWARE POI instance at FIWARE Lab. Otherwise you can use the Installation guide at FIWARE POI GitHub page. Installation to a Ubuntu 14.04 takes about half an hour by meticuously following the detailed instructions.