folder name as arg

Author: jcmayoral

gr_navigation_managers/simple_crop_nav/simple_crop_nav.py

@@ -17,7 +17,7 @@
                 "/safe_nav_vel": Twist, "/lock_all" : Bool , "/grid_map": GridMap}
 
 class SimpleCropNavController:
-    def __init__(self, desired_speed = 1.0):
+    def __init__(self, desired_speed = 1.0, folder = "data"):
         self.twist = Twist()
         self.twist.linear.x = desired_speed
         self.listener = tf.TransformListener()
@@ -27,7 +27,7 @@ def __init__(self, desired_speed = 1.0):
         rospy.Subscriber("/Tablet/voice", VoiceMessage, self.voice_cb)
         self.pub = rospy.Publisher("/nav_vel", Twist, queue_size=1)
         self.rb = utils.BagRecorder(record_topics = list_topics,
-                                    desired_path = "/home/jose/ros_ws/src/gr_navigation/gr_navigation_managers/simple_crop_nav/data/",
+                                    desired_path = "/home/jose/ros_ws/src/gr_navigation/gr_navigation_managers/simple_crop_nav/"+ folder +"/",
                                     smach=False, start=False)
 
 

gr_navigation_managers/simple_crop_nav/simple_crop_nav_node.py

@@ -1,23 +1,24 @@
 #!/usr/bin/python
 from simple_crop_nav import SimpleCropNavController
 import rospy
+import sys
+import os
 
 if __name__ == "__main__":
     rospy.init_node("simple_crop_nav_controller")
-    #rospy.Subscriber("/Tablet/voice", VoiceMessage, start_cb)
-    #while not start_test:
-    #    rospy.sleep(0.1)
 
-    #msg = None
+    if len(sys.argv) != 2:
+        print "please provide just folder name as extra args"
+        sys.exit()
 
-    #while msg is None:
-    #    msg = rospy.wait_for_message("/Tablet/voice", VoiceMessage, timeout=None)
-    #    parse_command(msg.texts)
-
-    #print "NEXT STage"
+    folder_name = sys.argv[1]
+    try:
+        os.mkdir(folder_name)
+    except OSError:
+        print ("Creation of the directory failed")
 
     rospy.logerr("start test")
-    controller = SimpleCropNavController()
+    controller = SimpleCropNavController(folder=folder_name)
 
     while not rospy.is_shutdown() and controller.is_running():
         rospy.sleep(1.0)