Add SOCIABLE as param

launch/bring_up.launch

@@ -8,9 +8,10 @@
       <param name="/user_id" value="$(arg user_id)" />
   <arg name="assistive_actions" default="$(find xml_reader)/src/xml_reader/assistive_actions_definition_es.xml" />
       <param name="/assistive_actions" value="$(arg assistive_actions)" />
-
   <arg name="objective" default="ascending" />
       <param name="/objective" value="$(arg objective)" /> 
+  <arg name="SOCIABLE" default="True" />
+      <param name="/SOCIABLE" value="$(arg SOCIABLE)" />
 
   <!-- Final tokens locations -->
   <rosparam param="solution_ascending">

scripts/settings.py

-'''In this class we set all the connecting with the external sources and we
-initialise all the classes instances
-'''
-
-#import from ros
-import rospy
-import time
-#sub/pub, services and actions from ros
-from std_msgs.msg import String, Int8
-from iri_rfid_board_scanner.msg import BoardIds
-
-#import from libraries
-import pygame
-
-class Settings(object):
-	def __init__(self):
-		rospy.init_node('big_hero', anonymous=True)
-		# subscriber for getting data from the hr sensor
-		rospy.Subscriber("/rfid_board_scanner/board_ids", BoardIds, self.get_electro_board_callback)
-		self.robot_language = rospy.get_param("/language")
-		self.user_id = rospy.get_param("/user_id")
-		self.ids = list(map(int, rospy.get_param('/rfid_id').split()))
-		self.tokens = rospy.get_param('/tokens_number')
-		solution_board_from_launch = rospy.get_param('/solution_board')
-		# getting the ids from the rfids sensors
-		self.ids = [int(self.ids[i]) for i in range(len(self.ids))]
-		# coupling ids with numbers
-		self.electro_board_from_ids_to_tokens = self.convert_electro_board_ids_to_tokens(self.ids, self.tokens)
-		self.solution_board = solution_board_from_launch
-		self.electro_board = list()
-		self.electro_board_with_tokens = dict()
-
-		self.previous_board_state = dict()
-		self.current_board_state = dict()
-
-
-	def play_sound(self, file_path, sleep):
-		'''
-		play a sound using pygame
-		'''
-		pygame.mixer.init()
-		pygame.mixer.music.load(file_path)
-		pygame.mixer.music.play(0)
-		time.sleep(sleep)
-
-
-	def get_tokens_id(self):
-		return self.tokens
-
-
-	# def get_robot_personality(self):
-	#   return self.robot_personality
-
-	def get_robot_language(self):
-		return self.robot_language
-
-
-	# def get_robot_gender(self):
-	#   return self.robot_gender
-
-	def get_user_id(self):
-		return self.user_id
-
-
-	# get value from the topic
-	def get_electro_board_ids(self):
-		return self.electro_board
-
-
-	# topic subscriber
-	def get_electro_board_callback(self, msg):
-		self.electro_board = (msg.id)
-
-
-	def get_electro_board(self):
-		return self.get_tokens_by_ids(self.electro_board_from_ids_to_tokens, self.electro_board)
-
-
-	def convert_electro_board_ids_to_tokens(self, ids, tokens):
-		'''
-		:param ids:
-		:param tokens:
-		:return: this method creates a dic where the ids are the keys and the values are the tokens
-		'''
-		from_ids_to_tokens = dict()
-		for i in range(len(ids)):
-			from_ids_to_tokens[ids[i]] = tokens[i]
-		return from_ids_to_tokens
-
-
-	def get_tokens_by_ids(self, from_ids_to_tokens_dict, msg):
-		'''
-		:param electro_board:
-		:param msg:
-		:return: given a dictionary where key is the id and value is the token change the msg according (0 empty !0 a token id)
-		'''
-		for i in range(len(msg)):
-			if msg[i] == 0:
-				# i+1 because the id start
-				self.electro_board_with_tokens[i + 1] = '0'
-			else:
-				self.electro_board_with_tokens[i + 1] = from_ids_to_tokens_dict.get(msg[i])
-		return self.electro_board_with_tokens
-
-
-def main():
-	settings = Settings()
-	while not rospy.is_shutdown():
-		print(settings.get_electro_board())
-
-
-if __name__=="__main__":
-	main()
\ No newline at end of file