refactored the code, fixed config bug

script/fall_detector.py

@@ -4,7 +4,7 @@ import os
 import rospy
 from naoqi import ALProxy, ALBroker, ALModule
 
-from masterloop import inform_masterloop_factory
+from masterloop import inform_masterloop_factory, mp
 
 
 fall_broker = None
@@ -18,7 +18,6 @@ class FallDetectorModule(ALModule):
 
     def __init__(self, name):
         ALModule.__init__(self, name)
-        self.mp = ALProxy('ALMotion')
 
     def on_robot_falling(self, *_args):
         _inform_masterloop('falling')
@@ -26,9 +25,11 @@ class FallDetectorModule(ALModule):
     def on_robot_fallen(self, *_args):
         if not _inform_masterloop('fallen'):
             return
-        self.mp.rest()
+        mp.rest()
         rospy.Rate(0.5).sleep()
-        self.mp.wakeUp()
+        mp.wakeUp()
+        am = ALProxy('ALAutonomousMoves', os.environ['NAO_IP'], 9559)
+        am.setExpressiveListeningEnabled(False)
         pp = ALProxy('ALRobotPosture')
         while not pp.goToPosture('StandInit', 1.0):
             pass