import numpy as np
from rover import Rover
rovecomm_node = RoveComm(11001, ("", 11112))
# Get pointer to the robot.
robot = Robot()
keyboard = Keyboard()
keyboard.enable(64)
# Initialize the rover class, with our rovecomm node
rover = Rover(robot, rovecomm_node)
rovecomm_node.set_callback(1000, rover.drive_callback)
# Get simulation step length.
timeStep = int(robot.getBasicTimeStep())
while robot.step(timeStep) != -1:
## Check if we need to trigger watchdog and stop driving
rover.drive_watchdog_check()
# send the sensor data to the autonomy program
rover.send_sensor_update()
# Stream the current frame (at fixed FPS)
rover.stream_frame()
# print(depth.getRangeImageArray())
rover.close()
