#!/usr/bin/env python

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import signal
import sys
import threading

import rospy

from python_qt_binding.QtWidgets import QApplication

import joint_state_publisher
import joint_state_publisher_gui

if __name__ == '__main__':
    try:
        rospy.init_node('joint_state_publisher_gui')
        app = QApplication(sys.argv)
        app.setApplicationDisplayName("Joint State Publisher")
        num_rows = joint_state_publisher.get_param('num_rows', 0)
        jsp_gui = joint_state_publisher_gui.JointStatePublisherGui("Node: " + rospy.get_name(),
                                                                   joint_state_publisher.JointStatePublisher(),
                                                                   num_rows)
        jsp_gui.show()
        jsp_gui.sliderUpdateTrigger.emit()

        threading.Thread(target=jsp_gui.jsp.loop).start()
        signal.signal(signal.SIGINT, signal.SIG_DFL)
        sys.exit(app.exec_())

    except rospy.ROSInterruptException:
        pass
