algorithm = MyAlgorithm(pose3d, motors, laser, map_img)
#////////////////////////////////////////////////////////
#THREAD 2 - SENSORS
#////////////////////////////////////////////////////////
mySensors = Sensors(motors, pose3d, laser)
t2 = ThreadSensors(mySensors)
t2.daemon = True
t2.start()
#////////////////////////////////////////////////////////
#THREAD 1 - GUI
#////////////////////////////////////////////////////////
app = QApplication(sys.argv)
myGUI = MainWindow(map_img)
myGUI.setMapImg(map_img)
myGUI.setSensors(mySensors)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t1 = ThreadGUI(myGUI)
t1.daemon = True
t1.start()
#////////////////////////////////////////////////////////
sys.exit(app.exec_())
# Ctrl+C not working
#http://wiki.ros.org/rospy/Overview/Initialization%20and%20Shutdown
