adding software demo script to launch everything

ros/src/fastpeople/launch/software_demo.py

@@ -0,0 +1,66 @@
+# Script to run all launch files and send takeoff command for software demo.
+
+import subprocess
+import signal
+import sys
+import time
+
+# Process handles.
+robot_launch = None
+human_launch = None
+takeoff = None
+
+# Custom signal handler for clean shutdown.
+def sigint_handler(sig, frame):
+    print "Cleaning up."
+
+    # Register global variables in this scope.
+    global robot_launch
+    global human_launch
+
+    # Send termination signals and wait for success.
+    if robot_launch is not None and robot_launch.poll() is None:
+        robot_launch.terminate()
+
+    if human_launch is not None and human_launch.poll() is None:
+        human_launch.terminate()
+
+    if takeoff is not None and takeoff.poll() is None:
+        takeoff.terminate()
+
+    if robot_launch is not None:
+        robot_launch.wait()
+
+    if human_launch is not None:
+        human_launch.wait()
+
+    if takeoff is not None:
+        takeoff.wait()
+
+    # Exit successfully.
+    sys.exit(0)
+
+
+# Register custom signal handler on SIGINT.
+signal.signal(signal.SIGINT, sigint_handler)
+
+# Set up processes and let it go.
+# (1) Launch the crazyflies.
+robot_launch = subprocess.Popen(["roslaunch", "fastpeople", "software_demo.launch"])
+
+# (2) Wait a fixed amount of time (s) before calling takeoff.
+TIME_BEFORE_TAKEOFF = 3.0
+time.sleep(TIME_BEFORE_TAKEOFF)
+
+# (3) Send takeoff signal.
+takeoff = subprocess.Popen(["rosservice", "call", "takeoffHY4"])
+
+# (4) Wait a fixed amount of time for takeoff to initiate before starting
+# human motion predictor.
+TIME_BEFORE_HUMAN = 3.0
+time.sleep(TIME_BEFORE_HUMAN)
+
+# (5) Initiate human predictor.
+human_launch = subprocess.Popen(["roslaunch", "crazyflie_human", "simulated_demo.launch"])
+
+signal.pause()