From 24d33a5f1743b9eb2e9a309317edbc8e56eee226 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 21 Feb 2015 00:30:47 +0100
Subject: [PATCH] using rosbridge instead of own json server

---
 arm.launch              |  2 ++
 move_base.launch        |  2 --
 scripts/arm_ros_conn.py | 71 ++++-------------------------------------
 scripts/pyshared        |  1 -
 4 files changed, 8 insertions(+), 68 deletions(-)
 delete mode 160000 scripts/pyshared

diff --git a/arm.launch b/arm.launch
index 9cdfe9b..877df4c 100644
--- a/arm.launch
+++ b/arm.launch
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
 <launch>
+	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> 
+
 	<include file="$(find openni2_launch)/launch/openni2.launch">
 		<arg name="rgb_processing" value="false" />
 		<arg name="debayer_processing" value="false" />
diff --git a/move_base.launch b/move_base.launch
index cd1ef67..1ef9f37 100644
--- a/move_base.launch
+++ b/move_base.launch
@@ -1,7 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-	<node pkg="arm" type="arm_ros_conn.py" name="arm_ros_conn" output="screen" />
-
 	<!-- Run the map server -->
 	<node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.png 0.01" />
 
diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 67561b3..9bfe92d 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -3,82 +3,23 @@
 
 import rospy
 import tf
-import prctl
-#import cProfile
-import threading
-from pyshared.json_client import JsonClient
-from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 
 class ARMRosConn():
 	def __init__(self):
 		rospy.init_node('arm')
-		prctl.set_name("arm_ros_bridge")
-		self.__lock_cmd = threading.Lock()
-		self.pComm = JsonClient(("arm", 10002))
 
-		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
-		self.sub_scan = None
-		self.motion_enabled_last = None
-		self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
+		rospy.Subscriber("odom", Odometry, self.odom_received)
 		self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
 
-		self.run()
-
-	def command(self, cmd):
-		with self.__lock_cmd:
-			return self.pComm.write(cmd)
-
-	def run(self):
-		rate = rospy.Rate(10.0)
-		#pr = cProfile.Profile()
-		#pr.enable()
+		rate = rospy.Rate(10)
 		while not rospy.is_shutdown():
-			self.send_odometry()
-
 			rate.sleep()
-		#pr.disable()
-		#pr.dump_stats("/tmp/test.stats")
-
-	def send_odometry(self):
-		current_time = rospy.Time.now()
-                lPos, fAngle, lSpeed = self.command("get engine pose")
-
-		# since all odometry is 6DOF we'll need a quaternion created from yaw
-		odom_quat = tf.transformations.quaternion_from_euler(0, 0, fAngle)
-
-		# first, we'll publish the transform over tf
-		self.tf_broadcaster.sendTransform((lPos[0], lPos[1], 0.0), odom_quat, current_time, "base_link", "odom")
-
-		# next, we'll publish the odometry message over ROS
-		odom = Odometry()
-		odom.header.stamp = current_time
-		odom.header.frame_id = "/odom"
-
-		# set the position
-		odom.pose.pose.position.x = lPos[0]
-		odom.pose.pose.position.y = lPos[1]
-		odom.pose.pose.position.z = 0.0
-		odom.pose.pose.orientation.x = odom_quat[0]
-		odom.pose.pose.orientation.y = odom_quat[1]
-		odom.pose.pose.orientation.z = odom_quat[2]
-		odom.pose.pose.orientation.w = odom_quat[3]
-
-		# set the velocity
-		odom.child_frame_id = "base_link"
-		odom.twist.twist.linear.x = lSpeed[0]
-		odom.twist.twist.linear.y = 0.0
-		odom.twist.twist.angular.z = lSpeed[1]
-
-		# publish the message
-		self.pub_odom.publish(odom)
-
-	# test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]'
-	def cmdVelReceived(self, msg):
-		trans = msg.linear.x
-		rot = msg.angular.z
 
-		self.command("set engine speed %f %f" % (trans, rot))
+	def odom_received(self, msg):
+		pos = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z)
+		orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)
+		self.tf_broadcaster.sendTransform(pos, orientation, msg.header.stamp, "base_link", "odom")
 
 if __name__ == '__main__':
 	ARMRosConn()
diff --git a/scripts/pyshared b/scripts/pyshared
deleted file mode 160000
index d73e753..0000000
--- a/scripts/pyshared
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit d73e753a4c2c8a9bb79ada177d1cb122a08cabeb
-- 
2.39.5