text: #!/usr/bin/env python
  
  import os
  import sys
  import inspect
  
  # realpath() will make your script run, even if you symlink it
  # import the newly defined agent module
  MODULE_FOLDER = (os.path.realpath(
      os.path.abspath(
          os.path.split(
              os.path.dirname(inspect.getfile(inspect.currentframe())))[0])) +
                   '/rosagent')
  if MODULE_FOLDER not in sys.path:
      sys.path.insert(0, MODULE_FOLDER)
  
  # realpath() will make your script run, even if you symlink it
  # import the newly defined agent module
  INPUT_FOLDER = (os.path.realpath(
      os.path.abspath(
          os.path.split(
              os.path.dirname(inspect.getfile(inspect.currentframe())))[0])) +
                  '/tests/input')
  if INPUT_FOLDER not in sys.path:
      sys.path.insert(0, INPUT_FOLDER)
  
  # realpath() will make your script run, even if you symlink it
  # import the newly defined agent module
  OUTPUT_FOLDER = (os.path.realpath(
      os.path.abspath(
          os.path.split(
              os.path.dirname(inspect.getfile(inspect.currentframe())))[0])) +
                   '/data/')
  
  import agent
  import rospy
  
  try:
      test_agent = agent.Turtlebot(INPUT_FOLDER + '/complex_comm_motion.json')
      for step in xrange(test_agent.time_steps):
          rospy.loginfo('Time step: ' + str(step))
          test_agent.publish()
          test_agent.subscribe()
      test_agent.shutdown()
  except (KeyboardInterrupt, SystemExit):
      test_agent.shutdown()
  