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#!/usr/bin/env python
'''This runs the PbD system (i.e. the backend).'''
# Core ROS imports come first.
import roslib
roslib.load_manifest('pr2_pbd_interaction')
import rospy
if __name__ == '__main__':
# Check whether we want code coverage, and start if so.
use_coverage = rospy.get_param(
'/pr2_pbd_interaction/coverage', default=False)
if use_coverage:
from coverage import coverage
cov = coverage(
include="*/pr2_pbd_interaction/src/*.py", # source files
omit="*/src/pr2_pbd_interaction/*" # generated files
)
cov.start()
# Run the system
import interaction
interaction_ = interaction.Interaction()
rospy.spin()
# System execution finished; generate coverage report if enabled.
if use_coverage:
cov.stop()
cov.save()
cov.html_report(title='PR2 PbD code coverage')