updated the code in mainHRP_SLAM to the modifications done to run the demo

mainHRP_SLAM.py

@@ -8,7 +8,7 @@ from nav_msgs.msg import Odometry
 from nav_msgs.msg import OccupancyGrid
 import subprocess
 import os
-
+import threading
 class Mower(object):
 	
 	def __init__(self):
@@ -17,7 +17,7 @@ class Mower(object):
 		self.pub_twist=rospy.Publisher('/cmd_vel',Twist,queue_size=1)
 		rospy.Subscriber('/scan',LaserScan,self.lidar_msg)
 		rospy.Subscriber('/odom',Odometry,self.placePos)
-		rospy.Subscriber('/map', OccupancyGrid,self.loadMap)
+		#rospy.Subscriber('/map', OccupancyGrid,self.loadMap)
 		self.twist = Twist()
 		self.f = np.vectorize(lambda x: 30 if x.__abs__()>30 else x)
 		self.reset()
@@ -28,8 +28,13 @@ class Mower(object):
 		self.side=0
 		self.devnull = open(os.devnull, 'w')
 		subprocess.Popen(["rosrun","urg_node","urg_node","_ip_address:=192.168.1.11"])
-		self.proc = subprocess.Popen(["rosrun","gmapping","slam_gmapping","_temporalUpdate:=2","_map_update_interval:=2"],stdout=self.devnull, stderr=self.devnull)
-		subprocess.Popen(["rosrun","tf","static_transform_publisher","0","0","0","0","0","0","base_link","laser","100"])
+		time.sleep(10)
+		print("Starting")
+		#self.proc = subprocess.Popen(["rosrun","gmapping","slam_gmapping","_temporalUpdate:=2","_map_update_interval:=2"],stdout=self.devnull, stderr=self.devnull)
+		t1 = threading.Thread(target=self.loadMap)
+		t1.start()
+		time.sleep(10)
+		#subprocess.Popen(["rosrun","tf","static_transform_publisher","0","0","0","0","0","0","base_link","laser","100"])
 
 	def isClear(self,x,y):
 		dx=x-self.x
@@ -225,7 +230,8 @@ class Mower(object):
 				
 			
 
-	def loadMap(self,data):
+	def loadMap(self):
+		while(True):
 			# Origin is at [2000][2000], resolution 0.05
 			x=self.x
 			y=self.y