refactored the code, fixed config bug

script/walker.py

@@ -5,9 +5,8 @@ from time import sleep
 
 import rospy
 import tf
-from naoqi import ALProxy
 
-from masterloop import inform_masterloop_factory
+from masterloop import inform_masterloop_factory, mp
 
 
 FW = None
@@ -60,9 +59,6 @@ if __name__ == '__main__':
     global_init()
     rospy.wait_for_service('inform_masterloop')
     ll = tf.TransformListener()
-    mp = ALProxy('ALMotion', os.environ['NAO_IP'], 9559)
-    mp.wakeUp()
-    mp.moveInit()
     mp.setMoveArmsEnabled(False, False)
 
     while not rospy.is_shutdown():