From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Tue, 11 Feb 2020 15:49:50 +0000 (+0100)
Subject: receiving velocities command using protobuf
X-Git-Url: http://git.leonardobizzoni.com/?a=commitdiff_plain;h=b6c3a952f385156c66a033627a6f83bf2096d1c4;p=pioneer-stm32

receiving velocities command using protobuf
---

diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp
index e47d2ad..d19ac9f 100644
--- a/otto_controller/Core/Src/main.cpp
+++ b/otto_controller/Core/Src/main.cpp
@@ -104,7 +104,7 @@ uint8_t *rx_buffer;
 velocity_msg vel_msg;
 wheel_msg wheels_msg;
 
-uint8_t mode = 0;  //setup mode
+int mode = 0;  //setup mode
 
 uint8_t proto_buffer_rx[50];
 pb_istream_t in_pb_stream;
@@ -315,30 +315,35 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
 
+  mode++;
+
   float linear_velocity;
   float angular_velocity;
 
-  pb_istream_t stream = pb_istream_from_buffer(proto_buffer_rx, velocity_cmd_length);
+  pb_istream_t stream = pb_istream_from_buffer(proto_buffer_rx,
+                                               velocity_cmd_length);
 
   /* Now we are ready to decode the message. */
   bool status = pb_decode(&stream, VelocityCommand_fields, &vel_cmd);
 
-  linear_velocity = vel_cmd.linear_velocity;
-  angular_velocity = vel_cmd.angular_velocity;
+  if (status) {
+    linear_velocity = vel_cmd.linear_velocity;
+    angular_velocity = vel_cmd.angular_velocity;
 
-  odom.UpdateValues(linear_velocity, angular_velocity);
+    odom.UpdateValues(linear_velocity, angular_velocity);
 
-  float left_setpoint = odom.GetLeftVelocity();
-  float right_setpoint = odom.GetRightVelocity();
+    float left_setpoint = odom.GetLeftVelocity();
+    float right_setpoint = odom.GetRightVelocity();
 
-  left_pid.set(left_setpoint);
-  right_pid.set(right_setpoint);
+    left_pid.set(left_setpoint);
+    right_pid.set(right_setpoint);
 
-  float cross_setpoint = left_setpoint - right_setpoint;
-  cross_pid.set(cross_setpoint);
+    float cross_setpoint = left_setpoint - right_setpoint;
+    cross_pid.set(cross_setpoint);
+  }
 
   HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,
-                         velocity_cmd_length);
+                       velocity_cmd_length);
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py b/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py
index fe9a4a2..36bf463 100755
--- a/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py
+++ b/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 
 import rospy, serial, struct, time
+import otto_communication_pb2
 from geometry_msgs.msg import Twist
 from serial import SerialException
 
@@ -14,10 +15,14 @@ ser = serial.Serial(
 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.loginfo('I heard %f %f', linear, angular)
-    msg_output = struct.pack('<ff', linear, angular)
-    ser.write(msg_output)
+    out_buffer = my_velocity.SerializeToString()
+    ser.write(out_buffer)
     ser.reset_output_buffer()
+    time.sleep(0.001)
     #ser.flush()
     
 
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter_backup.py b/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter_backup.py
new file mode 100755
index 0000000..fe9a4a2
--- /dev/null
+++ b/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter_backup.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+
+import rospy, serial, struct, time
+from geometry_msgs.msg import Twist
+from serial import SerialException
+
+ser = serial.Serial(
+        baudrate=115200,
+        parity=serial.PARITY_NONE,
+        stopbits=serial.STOPBITS_ONE,
+        bytesize=serial.EIGHTBITS,
+        rtscts=False)
+
+def callback(data):
+    linear = -data.linear.x
+    angular = -data.angular.z      #da fixare?
+    rospy.loginfo('I heard %f %f', linear, angular)
+    msg_output = struct.pack('<ff', linear, angular)
+    ser.write(msg_output)
+    ser.reset_output_buffer()
+    #ser.flush()
+    
+
+
+def listener():
+    while(ser.is_open == False):
+        try:
+            ser.port = '/dev/ttyUSB0'
+            ser.open()
+        except SerialException:
+            print('couldnt open /dev/ttyUSB0')
+            time.sleep(2)
+    
+    print('ttyUSB0 opened')
+    rospy.init_node('cmd_vel_transmitter', anonymous=True)
+
+    rospy.Subscriber('/cmd_vel', Twist, callback)
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.py b/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.py
new file mode 100644
index 0000000..fe68e9f
--- /dev/null
+++ b/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.py
@@ -0,0 +1,304 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: otto_communication.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf import descriptor_pb2
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='otto_communication.proto',
+  package='',
+  syntax='proto2',
+  serialized_pb=_b('\n\x18otto_communication.proto\"\x82\x02\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x06\x12%\n\x06status\x18\x04 \x02(\x0e\x32\x15.StatusMessage.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
+)
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+
+
+_STATUSMESSAGE_STATUS = _descriptor.EnumDescriptor(
+  name='Status',
+  full_name='StatusMessage.Status',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='WAITING_CONFIG', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='READY', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='RUNNING', index=3, number=3,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_1', index=4, number=4,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_2', index=5, number=5,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN_ERROR', index=6, number=6,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=159,
+  serialized_end=287,
+)
+_sym_db.RegisterEnumDescriptor(_STATUSMESSAGE_STATUS)
+
+
+_STATUSMESSAGE = _descriptor.Descriptor(
+  name='StatusMessage',
+  full_name='StatusMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='StatusMessage.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='StatusMessage.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
+      number=3, type=6, cpp_type=4, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='StatusMessage.status', index=3,
+      number=4, type=14, cpp_type=8, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+    _STATUSMESSAGE_STATUS,
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=29,
+  serialized_end=287,
+)
+
+
+_CONFIGCOMMAND = _descriptor.Descriptor(
+  name='ConfigCommand',
+  full_name='ConfigCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='left_kp', full_name='ConfigCommand.left_kp', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_ki', full_name='ConfigCommand.left_ki', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_kd', full_name='ConfigCommand.left_kd', index=2,
+      number=3, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kp', full_name='ConfigCommand.right_kp', index=3,
+      number=4, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_ki', full_name='ConfigCommand.right_ki', index=4,
+      number=5, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kd', full_name='ConfigCommand.right_kd', index=5,
+      number=6, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kp', full_name='ConfigCommand.cross_kp', index=6,
+      number=7, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_ki', full_name='ConfigCommand.cross_ki', index=7,
+      number=8, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kd', full_name='ConfigCommand.cross_kd', index=8,
+      number=9, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='baseline', full_name='ConfigCommand.baseline', index=9,
+      number=10, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='ticks_per_revolution', full_name='ConfigCommand.ticks_per_revolution', index=10,
+      number=11, type=7, cpp_type=3, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_wheel_circumference', full_name='ConfigCommand.right_wheel_circumference', index=11,
+      number=12, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_wheel_circumference', full_name='ConfigCommand.left_wheel_circumference', index=12,
+      number=13, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=290,
+  serialized_end=581,
+)
+
+
+_VELOCITYCOMMAND = _descriptor.Descriptor(
+  name='VelocityCommand',
+  full_name='VelocityCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=583,
+  serialized_end=651,
+)
+
+_STATUSMESSAGE.fields_by_name['status'].enum_type = _STATUSMESSAGE_STATUS
+_STATUSMESSAGE_STATUS.containing_type = _STATUSMESSAGE
+DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
+DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
+DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
+
+StatusMessage = _reflection.GeneratedProtocolMessageType('StatusMessage', (_message.Message,), dict(
+  DESCRIPTOR = _STATUSMESSAGE,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:StatusMessage)
+  ))
+_sym_db.RegisterMessage(StatusMessage)
+
+ConfigCommand = _reflection.GeneratedProtocolMessageType('ConfigCommand', (_message.Message,), dict(
+  DESCRIPTOR = _CONFIGCOMMAND,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:ConfigCommand)
+  ))
+_sym_db.RegisterMessage(ConfigCommand)
+
+VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
+  DESCRIPTOR = _VELOCITYCOMMAND,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:VelocityCommand)
+  ))
+_sym_db.RegisterMessage(VelocityCommand)
+
+
+# @@protoc_insertion_point(module_scope)
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.pyc b/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.pyc
new file mode 100644
index 0000000..acdac7a
Binary files /dev/null and b/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.pyc differ
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/proto_transmit.py b/utils/catkin_ws/src/joypad_bridge/scripts/proto_transmit.py
new file mode 100644
index 0000000..7d1ce00
--- /dev/null
+++ b/utils/catkin_ws/src/joypad_bridge/scripts/proto_transmit.py
@@ -0,0 +1,36 @@
+import time, serial, struct
+import otto_communication_pb2
+from serial import SerialException
+
+ser = serial.Serial(
+        baudrate=115200,
+        parity=serial.PARITY_NONE,
+        stopbits=serial.STOPBITS_ONE,
+        bytesize=serial.EIGHTBITS,
+        rtscts=False,
+        exclusive=None)
+while (ser.is_open == False):
+	try:
+		ser.port = '/dev/ttyUSB0'
+		ser.open()
+	except SerialException:
+		print("couldn't open ttyUSB0, check the connection")
+		time.sleep(2)
+
+print("open port")
+
+my_velocity = otto_communication_pb2.VelocityCommand()
+my_velocity.linear_velocity = 0.3
+my_velocity.angular_velocity = 0.0
+encode_buffer = my_velocity.SerializeToString()
+print(encode_buffer)
+print(len(encode_buffer))
+
+while 1:
+  my_velocity.linear_velocity = my_velocity.linear_velocity + 0.01
+  encode_buffer = my_velocity.SerializeToString()
+  print(my_velocity)
+  print(encode_buffer)
+  ser.write(encode_buffer)
+  ser.reset_output_buffer()
+  time.sleep(0.5)
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/velocities_pb2.py b/utils/catkin_ws/src/joypad_bridge/scripts/velocities_pb2.py
deleted file mode 100644
index 2f13360..0000000
--- a/utils/catkin_ws/src/joypad_bridge/scripts/velocities_pb2.py
+++ /dev/null
@@ -1,76 +0,0 @@
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: velocities.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='velocities.proto',
-  package='',
-  syntax='proto3',
-  serialized_pb=_b('\n\x10velocities.proto\"5\n\nVelocities\x12\x12\n\nlinear_vel\x18\x01 \x01(\x02\x12\x13\n\x0b\x61ngular_vel\x18\x02 \x01(\x02\x62\x06proto3')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-
-_VELOCITIES = _descriptor.Descriptor(
-  name='Velocities',
-  full_name='Velocities',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='linear_vel', full_name='Velocities.linear_vel', index=0,
-      number=1, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='angular_vel', full_name='Velocities.angular_vel', index=1,
-      number=2, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=20,
-  serialized_end=73,
-)
-
-DESCRIPTOR.message_types_by_name['Velocities'] = _VELOCITIES
-
-Velocities = _reflection.GeneratedProtocolMessageType('Velocities', (_message.Message,), dict(
-  DESCRIPTOR = _VELOCITIES,
-  __module__ = 'velocities_pb2'
-  # @@protoc_insertion_point(class_scope:Velocities)
-  ))
-_sym_db.RegisterMessage(Velocities)
-
-
-# @@protoc_insertion_point(module_scope)
diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/velocities_pb2.pyc b/utils/catkin_ws/src/joypad_bridge/scripts/velocities_pb2.pyc
deleted file mode 100644
index 68b9ec6..0000000
Binary files a/utils/catkin_ws/src/joypad_bridge/scripts/velocities_pb2.pyc and /dev/null differ
diff --git a/utils/py_serial_examples/config_command_pb2.py b/utils/py_serial_examples/config_command_pb2.py
deleted file mode 100644
index 58cca1c..0000000
--- a/utils/py_serial_examples/config_command_pb2.py
+++ /dev/null
@@ -1,153 +0,0 @@
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: config_command.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='config_command.proto',
-  package='',
-  syntax='proto3',
-  serialized_pb=_b('\n\x14\x63onfig_command.proto\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x01(\x02\x12\x0f\n\x07left_ki\x18\x02 \x01(\x02\x12\x0f\n\x07left_kd\x18\x03 \x01(\x02\x12\x10\n\x08right_kp\x18\x04 \x01(\x02\x12\x10\n\x08right_ki\x18\x05 \x01(\x02\x12\x10\n\x08right_kd\x18\x06 \x01(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x01(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x01(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x01(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x01(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x01(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x01(\x02\x12 \n\x18left_wheel_circumference\x18\r \x01(\x02\x62\x06proto3')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-
-_CONFIGCOMMAND = _descriptor.Descriptor(
-  name='ConfigCommand',
-  full_name='ConfigCommand',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='left_kp', full_name='ConfigCommand.left_kp', index=0,
-      number=1, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='left_ki', full_name='ConfigCommand.left_ki', index=1,
-      number=2, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='left_kd', full_name='ConfigCommand.left_kd', index=2,
-      number=3, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='right_kp', full_name='ConfigCommand.right_kp', index=3,
-      number=4, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='right_ki', full_name='ConfigCommand.right_ki', index=4,
-      number=5, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='right_kd', full_name='ConfigCommand.right_kd', index=5,
-      number=6, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='cross_kp', full_name='ConfigCommand.cross_kp', index=6,
-      number=7, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='cross_ki', full_name='ConfigCommand.cross_ki', index=7,
-      number=8, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='cross_kd', full_name='ConfigCommand.cross_kd', index=8,
-      number=9, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='baseline', full_name='ConfigCommand.baseline', index=9,
-      number=10, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='ticks_per_revolution', full_name='ConfigCommand.ticks_per_revolution', index=10,
-      number=11, type=7, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='right_wheel_circumference', full_name='ConfigCommand.right_wheel_circumference', index=11,
-      number=12, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='left_wheel_circumference', full_name='ConfigCommand.left_wheel_circumference', index=12,
-      number=13, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=25,
-  serialized_end=316,
-)
-
-DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
-
-ConfigCommand = _reflection.GeneratedProtocolMessageType('ConfigCommand', (_message.Message,), dict(
-  DESCRIPTOR = _CONFIGCOMMAND,
-  __module__ = 'config_command_pb2'
-  # @@protoc_insertion_point(class_scope:ConfigCommand)
-  ))
-_sym_db.RegisterMessage(ConfigCommand)
-
-
-# @@protoc_insertion_point(module_scope)
diff --git a/utils/py_serial_examples/proto_transmit.py b/utils/py_serial_examples/proto_transmit.py
index 7d1ce00..2ca3560 100644
--- a/utils/py_serial_examples/proto_transmit.py
+++ b/utils/py_serial_examples/proto_transmit.py
@@ -33,4 +33,4 @@ while 1:
   print(encode_buffer)
   ser.write(encode_buffer)
   ser.reset_output_buffer()
-  time.sleep(0.5)
+  time.sleep(0.005)
diff --git a/utils/py_serial_examples/status_message_pb2.py b/utils/py_serial_examples/status_message_pb2.py
deleted file mode 100644
index cf3f0fa..0000000
--- a/utils/py_serial_examples/status_message_pb2.py
+++ /dev/null
@@ -1,135 +0,0 @@
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: status_message.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='status_message.proto',
-  package='',
-  syntax='proto2',
-  serialized_pb=_b('\n\x14status_message.proto\"\x82\x02\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x06\x12%\n\x06status\x18\x04 \x02(\x0e\x32\x15.StatusMessage.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-_STATUSMESSAGE_STATUS = _descriptor.EnumDescriptor(
-  name='Status',
-  full_name='StatusMessage.Status',
-  filename=None,
-  file=DESCRIPTOR,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='UNKNOWN', index=0, number=0,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='WAITING_CONFIG', index=1, number=1,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='READY', index=2, number=2,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='RUNNING', index=3, number=3,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='H_BRIDGE_FAULT_1', index=4, number=4,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='H_BRIDGE_FAULT_2', index=5, number=5,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='UNKNOWN_ERROR', index=6, number=6,
-      options=None,
-      type=None),
-  ],
-  containing_type=None,
-  options=None,
-  serialized_start=155,
-  serialized_end=283,
-)
-_sym_db.RegisterEnumDescriptor(_STATUSMESSAGE_STATUS)
-
-
-_STATUSMESSAGE = _descriptor.Descriptor(
-  name='StatusMessage',
-  full_name='StatusMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='linear_velocity', full_name='StatusMessage.linear_velocity', index=0,
-      number=1, type=2, cpp_type=6, label=2,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='angular_velocity', full_name='StatusMessage.angular_velocity', index=1,
-      number=2, type=2, cpp_type=6, label=2,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
-      number=3, type=6, cpp_type=4, label=2,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='status', full_name='StatusMessage.status', index=3,
-      number=4, type=14, cpp_type=8, label=2,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-    _STATUSMESSAGE_STATUS,
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto2',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=25,
-  serialized_end=283,
-)
-
-_STATUSMESSAGE.fields_by_name['status'].enum_type = _STATUSMESSAGE_STATUS
-_STATUSMESSAGE_STATUS.containing_type = _STATUSMESSAGE
-DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
-
-StatusMessage = _reflection.GeneratedProtocolMessageType('StatusMessage', (_message.Message,), dict(
-  DESCRIPTOR = _STATUSMESSAGE,
-  __module__ = 'status_message_pb2'
-  # @@protoc_insertion_point(class_scope:StatusMessage)
-  ))
-_sym_db.RegisterMessage(StatusMessage)
-
-
-# @@protoc_insertion_point(module_scope)
diff --git a/utils/py_serial_examples/velocity_command_pb2.py b/utils/py_serial_examples/velocity_command_pb2.py
deleted file mode 100644
index 53fce6f..0000000
--- a/utils/py_serial_examples/velocity_command_pb2.py
+++ /dev/null
@@ -1,76 +0,0 @@
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: velocity_command.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='velocity_command.proto',
-  package='',
-  syntax='proto3',
-  serialized_pb=_b('\n\x16velocity_command.proto\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x01(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x01(\x02\x62\x06proto3')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-
-_VELOCITYCOMMAND = _descriptor.Descriptor(
-  name='VelocityCommand',
-  full_name='VelocityCommand',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
-      number=1, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-    _descriptor.FieldDescriptor(
-      name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
-      number=2, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=26,
-  serialized_end=94,
-)
-
-DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
-
-VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
-  DESCRIPTOR = _VELOCITYCOMMAND,
-  __module__ = 'velocity_command_pb2'
-  # @@protoc_insertion_point(class_scope:VelocityCommand)
-  ))
-_sym_db.RegisterMessage(VelocityCommand)
-
-
-# @@protoc_insertion_point(module_scope)