renamed controller to masterloop

script/imitator.py

@@ -9,10 +9,10 @@ import tf
 import numpy as np
 from naoqi import ALProxy
 
-from controller import inform_controller_factory
+from masterloop import inform_masterloop_factory
 
 
-_inform_controller = inform_controller_factory('imitator')
+_inform_masterloop = inform_masterloop_factory('imitator')
 
 
 _FRAME_TORSO = 0
@@ -26,7 +26,7 @@ def _elbow(arm_):
 
 if __name__ == '__main__':
     rospy.init_node('imitator')
-    rospy.wait_for_service('inform_controller')
+    rospy.wait_for_service('inform_masterloop')
     ll = tf.TransformListener()
     am = ALProxy('ALAutonomousMoves', os.environ['NAO_IP'], 9559)
     am.setExpressiveListeningEnabled(False)
@@ -43,7 +43,7 @@ if __name__ == '__main__':
 
     while not rospy.is_shutdown():
         sleep(0.1)
-        if not _inform_controller('imitate'):
+        if not _inform_masterloop('imitate'):
             continue
         rospy.logdebug('IMITATOR: ACTIVE')