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