did some work

script/walker.py

@@ -1,5 +1,6 @@
 #! /usr/bin/env python
 import os
+import json
 from time import sleep
 
 import rospy
@@ -9,18 +10,36 @@ from naoqi import ALProxy
 from controller import inform_controller_factory
 
 
-      #min   #max
-FW = -1.70, -1.40
-BK = -2.20, -2.40
-LT =  0.35,  0.53
-RT = -0.35, -0.53
-LR =  0.45,  0.85
-RR = -0.45, -0.85
+FW = None
+BK = None
+LT = None
+RT = None
+LR = None
+RR = None
 
 VMIN = 0.3
 VMAX = 1.0
 
 
+def thirdway(a, b):
+    return a + (b - a) / 3
+
+
+def global_init():
+    global FW, BK, LT, RT, LR, RR
+    here = os.path.dirname(os.path.realpath(__file__))
+    with open('{}/../config/default.yaml'.format(here)) as f:
+        x = json.load(f)
+
+    cx, cy, cz = x['cr']
+    FW = thirdway(cx, x['fw']), x['fw']
+    BK = thirdway(cx, x['bk']), x['bk']
+    LT = thirdway(cy, x['lt']), x['lt']
+    RT = thirdway(cy, x['rt']), x['rt']
+    LR = thirdway(cz, x['lr']), x['lr']
+    RR = thirdway(cz, x['rr']), x['rr']
+
+
 _inform_controller = inform_controller_factory('walker')
 
 
@@ -37,11 +56,12 @@ def _speed(pos, interval):
 
 
 if __name__ == '__main__':
-    rospy.init_node('teleoperation/walker')
+    rospy.init_node('walker')
+    global_init()
     rospy.wait_for_service('inform_controller')
     ll = tf.TransformListener()
     mp = ALProxy('ALMotion', os.environ['NAO_IP'], 9559)
-    # mp.wakeUp()
+    mp.wakeUp()
     mp.moveInit()
     mp.setMoveArmsEnabled(False, False)
 
@@ -84,7 +104,7 @@ if __name__ == '__main__':
         if not permission:
             mp.stopMove()
         else:
-            # mp.moveToward(*movement)  # DON'T DELETE THIS ONE
+            mp.moveToward(*movement)  # DON'T DELETE THIS ONE
             pass
 
     mp.rest()