def initialize():
""" initialize processing """
EYE.calibrate()
TURTLE.set_speed('normal')
if CURRENT_STATE is "traffic_light":
TURTLE.disable()
else:
TURTLE.enable()
MSG = String()
MSG.data = RUN_TYPE
PUBLISHER_PACKAGE.publish(MSG)
rospy.loginfo("executing: %s" % RUN_TYPE)
__import__('%s' % (RUN_TYPE), fromlist=[RUN_TYPE])
rospy.loginfo("Galapagos package started.")
while not rospy.is_shutdown():
TURTLE.move()
rospy.Rate(5).sleep()
#rospy.spin() # ! Deprecated
# NOTE: The codes below will never be worked
# except rospy.ROSInterruptException:
# rospy.loginfo('exception occurred')
# rospy.signal_shutdown("bye")
# pass
except KeyboardInterrupt:
print("\r", end='')
TURTLE.disable()
MSG.data = "view"
print(str(PUBLISHER_PACKAGE.publish(MSG)))
# TODO: change time function to "await"
for i in [1]:
print("Turning off in %d s...\r" % i, end='')
sleep(1)
print("See you. ")