remove serial nodes

diff --git a/utils/catkin_ws/src/serial_bridge/scripts/serial_receiver.py b/utils/catkin_ws/src/serial_bridge/scripts/serial_receiver.py
deleted file mode 100755 (executable)
index e39e225..0000000
--- a/utils/catkin_ws/src/serial_bridge/scripts/serial_receiver.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python
-
-import time
-
-import serial
-from serial import SerialException
-
-import otto_communication_pb2
-from google.protobuf.message import DecodeError
-
-import math
-from math import sin, cos, pi
-
-import rospy
-from nav_msgs.msg import Odometry
-from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3
-import tf
-
-import numpy
-
-ser = serial.Serial(
-        baudrate=9600,
-        timeout = None,
-        parity=serial.PARITY_NONE,
-        stopbits=serial.STOPBITS_ONE,
-        bytesize=serial.EIGHTBITS,
-        rtscts=False,
-        exclusive=False)
-
-def serial_receiver():
-    rospy.init_node('serial_receiver', anonymous=True, log_level=rospy.DEBUG)
-    serial_port = rospy.get_param("serial_port")
-    #dtr is connected to RST, on opening dtr is high by default so it resets the st board
-    #after opening the serial port we set it low so the board can boot
-    ser.dtr = 0 
-    while(ser.is_open == False and not rospy.is_shutdown()):
-        try:
-            ser.port = serial_port
-            ser.open()
-        except SerialException:
-            rospy.logerr('Couldn\'t open ' + serial_port)
-            time.sleep(2)
-
-    rospy.loginfo(serial_port + ' opened')
-    odom_pub = rospy.Publisher('/odom', Odometry, queue_size=10)
-    odom_broadcaster = tf.TransformBroadcaster()
-
-    otto_status = otto_communication_pb2.StatusMessage()
-    otto_status.linear_velocity = 0
-    otto_status.angular_velocity = 0
-    otto_status.delta_millis = 0
-    otto_status.status = 0
-
-    encoded_buffer = otto_status.SerializeToString()
-
-    status_length = len(encoded_buffer)
-
-    odom_values = numpy.array([0,0,0]) #x, y, th
-    icc_x = 0
-    icc_y = 0
-    radius = 0
-    current_time = rospy.Time.now()
-    
-    ser.reset_input_buffer()
-    while (not rospy.is_shutdown()):
-        encoded_buffer = ser.read(status_length)
-        try:
-            otto_status.ParseFromString(encoded_buffer)
-            rospy.logdebug(otto_status)
-            
-            # 3 = RUNNING
-            if (otto_status.status == 3):
-                lin_vel = otto_status.linear_velocity
-                ang_vel = otto_status.angular_velocity
-                d_time = otto_status.delta_millis
-                d_time = d_time / 1000.0
-                if(ang_vel != 0 and d_time > 0):
-                    radius = lin_vel / ang_vel
-                    icc_x = (odom_values[0] -radius*sin(odom_values[2]))
-                    icc_y = (odom_values[1] + radius*cos(odom_values[2]))
-                
-                    rotation_matrix = numpy.array([[cos(ang_vel*d_time), -sin(ang_vel*d_time), 0], 
-                                                    [sin(ang_vel*d_time), cos(ang_vel*d_time), 0], 
-                                                    [0, 0, 1]])
-                                                
-                    translate_icc_matrix = numpy.array([odom_values[0] - icc_x, 
-                                                        odom_values[1] - icc_y, 
-                                                        odom_values[2]])
-                
-                    translate_back_matrix = numpy.array([icc_x, 
-                                                        icc_y, 
-                                                        ang_vel*d_time])
-                
-                    odom_values = rotation_matrix.dot(translate_icc_matrix) + translate_back_matrix
-                    
-                elif(d_time > 0):
-                    odom_values = numpy.array([odom_values[0]+(cos(odom_values[2])*(lin_vel*d_time)), 
-                                                odom_values[1]+(sin(odom_values[2])*(lin_vel*d_time)), 
-                                                odom_values[2]])
-              
-                current_time = rospy.Time.now()
-                odom_quat = tf.transformations.quaternion_from_euler(0, 0, odom_values[2])
-                odom_broadcaster.sendTransform((odom_values[0], odom_values[1], 0.), odom_quat, current_time, "base_link", "odom")
-                odom = Odometry()
-                odom.header.stamp = current_time
-                odom.header.frame_id = "odom"
-
-                odom.pose.pose = Pose(Point(odom_values[0], odom_values[1], 0.), Quaternion(*odom_quat))
-
-                odom.child_frame_id = "base_link"
-                odom.twist.twist = Twist(Vector3(lin_vel, 0, 0), Vector3(0, 0, ang_vel))
-
-                odom_pub.publish(odom)
-
-        except DecodeError:
-            rospy.logerr("Decode Error")
-            ser.reset_input_buffer()
-
-if __name__ == '__main__':
-    serial_receiver()

diff --git a/utils/catkin_ws/src/serial_bridge/scripts/serial_transmitter.py b/utils/catkin_ws/src/serial_bridge/scripts/serial_transmitter.py
deleted file mode 100755 (executable)
index e5f3148..0000000
--- a/utils/catkin_ws/src/serial_bridge/scripts/serial_transmitter.py
+++ /dev/null
@@ -1,57 +0,0 @@
-#!/usr/bin/env python
-
-import time
-
-import otto_communication_pb2
-
-import rospy
-from geometry_msgs.msg import Twist
-
-import serial
-from serial import SerialException
-
-ser = serial.Serial(
-        baudrate=9600,
-        parity=serial.PARITY_NONE,
-        stopbits=serial.STOPBITS_ONE,
-        bytesize=serial.EIGHTBITS,
-        rtscts=True,
-        exclusive=None)
-
-def callback(data):
-    linear = data.linear.x
-    angular = -data.angular.z      #da fixare?
-    my_velocity = otto_communication_pb2.VelocityCommand()
-    my_velocity.linear_velocity = linear
-    my_velocity.angular_velocity = angular
-    rospy.logdebug('Cmd vel transmitted %f %f', linear, angular)
-    out_buffer = my_velocity.SerializeToString()
-    if(ser.cts == True):
-        ser.write(out_buffer)
-    else:
-        rospy.logwarn('ST not ready to receive velocity cmd')
-    ser.reset_output_buffer()
-    
-def listener():
-    rospy.init_node('serial_transmitter', anonymous=True, log_level=rospy.DEBUG)
-    
-    serial_port = rospy.get_param("serial_port")
-    #dtr is connected to RST, on opening dtr is high by default so it resets the st board
-    #after opening the serial port we set it low so the board can boot
-    ser.dtr = 0 
-    while(ser.is_open == False and not rospy.is_shutdown()):
-        try:
-            ser.port = serial_port
-            ser.open()
-        except SerialException:
-            rospy.logerr('Couldn\'t open ' + serial_port)
-            time.sleep(2)
-    
-    rospy.loginfo(serial_port + ' opened')
-
-    rospy.Subscriber('/cmd_vel', Twist, callback)
-
-    rospy.spin()
-
-if __name__ == '__main__':
-    listener()