import ard_IMU
import ard_SIG
import ard_ser_in
import threading
import std_msgs.msg
import geometry_msgs.msg
import rospy
import kzpy3.teg2.bdd_car_versions.bdd_car_rewrite.runtime_params as rp
os.environ['STOP'] = 'False'
baudrate = 115200
timeout = 0.1
Arduinos = ard_ser_in.assign_serial_connections(
ard_ser_in.get_arduino_serial_connections(baudrate, timeout))
time_step = Timer(1)
folder_display_timer = Timer(10)
git_pull_timer = Timer(60)
reload_timer = Timer(30)
M = {}
M['acc2rd_threshold'] = rp.acc2rd_threshold
M['gyro_freeze_threshold'] = rp.gyro_freeze_threshold
M['acc_freeze_threshold_x'] = rp.acc_freeze_threshold_x
M['acc_freeze_threshold_y_max'] = rp.acc_freeze_threshold_y_max
M['acc_freeze_threshold_y_min'] = rp.acc_freeze_threshold_y_min
M['acc_freeze_threshold_z'] = rp.acc_freeze_threshold_z
M['motor_freeze_threshold'] = rp.motor_freeze_threshold
M['steer_gain'] = rp.steer_gain
M['motor_gain'] = rp.motor_gain
from kzpy3.utils import *
import ard_MSE
import ard_IMU
import ard_SIG
import ard_ser_in
import threading
import std_msgs.msg
import geometry_msgs.msg
import rospy
import kzpy3.teg2.bdd_car_versions.bdd_car_rewrite.runtime_params as rp
#from kzpy3.teg2.bdd_car_versions.bdd_car_rewrite.runtime_params import *
baudrate = 115200
timeout = 0.1
Arduinos = ard_ser_in.assign_serial_connections(ard_ser_in.get_arduino_serial_connections(baudrate,timeout))
time_step = Timer(1)
folder_display_timer = Timer(10)
git_pull_timer = Timer(60)
reload_timer = Timer(30)
M = {}
M['acc2rd_threshold'] = rp.acc2rd_threshold
M['steer_gain'] = rp.steer_gain
M['motor_gain'] = rp.motor_gain
M['Stop_Arduinos'] = False
M['PID_min_max'] = rp.PID_min_max
M['aruco_evasion_active'] = 0
def caffe_steer_callback(msg):
