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)