if len(sys.argv) < 2: print( 'ERROR: python2 globalNavigation.py [MAP CONFIG file] [YAML CONFIG file]' ) sys.exit(-1) cfg = config.load(sys.argv[2]) jdrc = comm.init(cfg, 'Amazon') motors = jdrc.getMotorsClient("Amazon.Motors") pose3d = jdrc.getPose3dClient("Amazon.Pose3D") laser = jdrc.getLaserClient("Amazon.Laser") app = QApplication(sys.argv) myGUI = MainWindow() grid = Grid(myGUI) vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW()) sensor = Sensor(grid, pose3d, True) sensor.setGetPathSignal(myGUI.getPathSig) myGUI.setVelocity(vel) myGUI.setGrid(grid) myGUI.setSensor(sensor) algorithm = MyAlgorithm(grid, sensor, vel, laser) myGUI.setAlgorithm(algorithm) myGUI.show() removeMapFromArgs() t1 = ThreadMotors(motors, vel)
def removeMapFromArgs(): for arg in sys.argv: if (arg.split(".")[1] == "conf"): sys.argv.remove(arg) if __name__ == '__main__': if len(sys.argv) < 2: print('ERROR: python2 globalNavigation.py [MAP CONFIG file] [YAML CONFIG file]') sys.exit(-1) app = QApplication(sys.argv) frame = MainWindow() grid = Grid(frame) removeMapFromArgs() motors = PublisherMotors("/cmd_vel", 0.5, 0.1) pose = ListenerPose3d("/odom") vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW()) frame.setVelocity(vel) sensor = Sensor(grid, pose, True) sensor.setGetPathSignal(frame.getPathSig) frame.setGrid(grid) frame.setSensor(sensor) algorithm = MyAlgorithm(grid, sensor, vel) frame.setAlgorithm(algorithm)