Changed absolute path to relative path

src/LaGalere.py

 
 from Robot import Robot
+import globals
+import os
+
+sprite_file_dir = os.path.join(globals.RESOURES_DIR, "galere.png")
 
-sprite_file_dir = "/home/thomas/docs/clubelek/coupe/ressources/galere.png"
 
 class LaGalere(Robot):
     def __init__(self):

src/VisualizationCore.py

 
 import pyglet
 from pyglet import image
-from pyglet import sprite
 from pyglet import gl
-
-from DynamicObject import DynamicObject
+import globals
+import os
 
 winWidth = 1500
 winHeight = 1000
 
 dynamicObjecsList = []
 
+
 def loadBackground():
-    return image.load('/home/thomas/docs/clubelek/coupe/ressources/terrain_high.png')
+    return image.load(os.path.join(globals.RESOURES_DIR, "terrain_high.png"))
+
 
 def update(up):
     pass
 
+
 def initVisualization():
-    #allow use of an extra sample buffer (antialiasing)
+    # allow use of an extra sample buffer (antialiasing)
     config = pyglet.gl.Config(sample_buffers=1, samples=4)
-    window = pyglet.window.Window(config=config, width=winWidth,height=winHeight, resizable=False)
+    window = pyglet.window.Window(
+        config=config, width=winWidth, height=winHeight, resizable=False)
     bg = loadBackground()
 
     # scale to fit well terrain
     x_scaling = winWidth/bg.width
     y_scaling = winHeight/bg.height
     gl.glScalef(x_scaling, y_scaling, 1)
-    print("window launched with scaling "+ str((x_scaling, y_scaling)))
+    print("window launched with scaling " + str((x_scaling, y_scaling)))
 
     @window.event
     def on_draw():
@@ -37,9 +40,14 @@ def initVisualization():
         for dynObj in dynamicObjecsList:
             dynObj.sprite.draw()
 
+    @window.event
+    def on_close():
+        exit(0)
+
     # enter in event loop until window is closed -> blocking
     pyglet.clock.schedule_interval(update, 1/10)
     pyglet.app.run()
 
+
 def addDynamicObject(dynObj):
     dynamicObjecsList.append(dynObj)

src/ddviz-python.py

@@ -5,31 +5,30 @@ import VisualizationCore
 
 import rospy
 from nav_msgs.msg import Odometry
-import threading
 import math
 
+
 class DdvizNode:
 
     def odomCallback(self, odom):
         self.pos_x = (odom.pose.pose.position.x)
         self.pos_y = (odom.pose.pose.position.y)
 
-
         self.quat_z = (odom.pose.pose.orientation.z)
         self.quat_w = (odom.pose.pose.orientation.w)
 
-        self.rot = math.atan2(2*(self.quat_w*self.quat_z),(1-2*self.quat_z*self.quat_z))
+        self.rot = math.atan2(2*(self.quat_w*self.quat_z),
+                              (1-2*self.quat_z*self.quat_z))
         math.atan
         self.updateVisualization()
 
     def __init__(self):
         self.galere = LaGalere()
 
-
-        self.odomSubscriber = rospy.Subscriber("odom", Odometry, self.odomCallback)
+        self.odomSubscriber = rospy.Subscriber(
+            "odom", Odometry, self.odomCallback)
         self.initVisualization()
 
-
         rospy.spin()
 
     def initVisualization(self):
@@ -45,11 +44,11 @@ class DdvizNode:
         self.galere.set_r(self.rot)
 
 
-
 if __name__ == '__main__':
 
     rospy.init_node("ddviz")
 
     try:
         DdvizNode()
-    except rospy.ROSInterruptException: pass
+    except rospy.ROSInterruptException:
+        pass

src/globals.py

+
+import os
+from posixpath import dirname
+
+ROOT_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), os.pardir)
+RESOURES_DIR = os.path.join(ROOT_DIR, "ressources")