text: #!/usr/bin/env python3
  
  import rospy
  # from std_msgs.msg import String
  from sensor_msgs.msg import CompressedImage, LaserScan
  from geometry_msgs.msg import Twist
  import viewer
  import processor
  from turtlebot import TURTLE
  from scheduler import SCHEDULER  # ! not used in contest
  
  from constants import PATH_RASPICAM, PATH_USBCAM, PATH_LIDAR, PATH_GALAPAGOS_STATE
  
  TURTLE.disable()
  SCHEDULER.enable_lidar()
  SCHEDULER.set_state("default")
  # SCHEDULER.set_state("to_intersection")
  # SCHEDULER.set_state("traffic_light")
  
  rospy.Subscriber(PATH_USBCAM, CompressedImage,
                   processor.process_subcam, queue_size=1)
  rospy.Subscriber(PATH_RASPICAM, CompressedImage,
                   processor.process_frontcam, queue_size=1)
  # rospy.Subscriber(PATH_LIDAR, LaserScan,
  #                  processor.process_lidar, queue_size=1)
  # rospy.Subscriber('/cmd_vel', Twist, viewer.view_speed, queue_size=1)
  