Removed unused files.

Removed old, inactive code.
Added a brief description to joy.py and handle_nan_scan.py explaining their purpose.
speed.py is not used anymore but referenced in the final report, so I added a note explaining that.

src/dcaitirobot/dcaitirobot/handle_nan_scan.py

@@ -6,7 +6,10 @@ import geometry_msgs.msg as gm
 
 
 class TF2PublisherNode(Node):
-
+    """ The purpose of this node is to modify the LaserScan produced by velodyne so as to be compatible with slam_toolbox.
+        It seems there is an off-by-one error in slam_toolbox calculating the number of expected points in the scan,
+        resulting in warnings that /scan contains fewer points than expected.
+    """
     def __init__(self):
         super().__init__('nanhandler')
         
@@ -20,9 +23,6 @@ class TF2PublisherNode(Node):
 
         msg.ranges.append(float("inf"))
         msg.intensities.append(0.0)
-        # ranges = np.array(msg.ranges)
-        # mask_inf_dist = np.isinf(ranges)
-        # print(np.array(msg.intensities)[mask_inf_dist])
         
         self.pub.publish(msg)
 

src/dcaitirobot/dcaitirobot/joy.py

@@ -101,7 +101,6 @@ class Joystick(object):
         # since we're using ID's as indices, account for 0 based indices
         self.__button_values = [0] * (JSEvent.MAX_BUTTON_COUNT + 1)
 
-        # TODO: think about adding in previous value lists
         self.update_id = -1
         self.AxisUpdate = False
         self.ButtonUpdate = False
@@ -152,8 +151,6 @@ class JoystickController(Joystick):
         self.direction_vector = (0, 0)
         # rotation tells the robot to rotate x degrees
         self.rotation_vector = (0, 0)
-        # rotation as direction - rotation
-        # self.difference_vector = (0, 0)
 
     def hasUpdate(self):
         return self.ButtonUpdate or self.AxisUpdate

src/dcaitirobot/dcaitirobot/scale_odom.py

@@ -1,65 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-from geometry_msgs.msg import Twist
-from std_msgs.msg import String
-from nav_msgs.msg import Odometry
-
-import numpy as np
-
-
-SCALE_FACTOR = 1.0
-
-
-
-class TwistPublisher(Node):
-    def __init__(
-        self,
-        scale_factor=20.0
-    ):
-        super().__init__("twist_publisher")
-
-        self.scale_factor = scale_factor
-
-        self.publisher_ = self.create_publisher(
-            Odometry, "/odom_scaled", 1
-        )
-
-        self.create_subscription(Odometry, "/odom", self.odom_callback, 1)
-
-    def odom_callback(self, odom_message:Odometry):
-        odom_message.twist.twist.linear.x *= self.scale_factor
-        odom_message.twist.twist.linear.y *= self.scale_factor
-        odom_message.twist.twist.linear.z *= self.scale_factor
-        odom_message.twist.twist.angular.x *= self.scale_factor
-        odom_message.twist.twist.angular.y *= self.scale_factor
-        odom_message.twist.twist.angular.z *= self.scale_factor
-        odom_message.pose.pose.position.x *= self.scale_factor
-        odom_message.pose.pose.position.y *= self.scale_factor
-        odom_message.pose.pose.position.z *= self.scale_factor
-        odom_message.pose.pose.orientation.x *= self.scale_factor
-        odom_message.pose.pose.orientation.y *= self.scale_factor
-        odom_message.pose.pose.orientation.z *= self.scale_factor
-
-        self.publisher_.publish(odom_message)
-
-
-
-
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    minimal_publisher = TwistPublisher(
-        SCALE_FACTOR
-    )
-
-    rclpy.spin(minimal_publisher)
-
-    minimal_publisher.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

src/dcaitirobot/dcaitirobot/speed.py

@@ -1,3 +1,9 @@
+"""
+This file is not required anymore. It was our first, naive approach to translate Joy messages to track speeds for the robot.
+It is referenced in the project report, which is why we decided to keep it in the repo.
+"""
+
+
 import math
 from typing import List
 

src/dcaitirobot/dcaitirobot/tf2pleasework.py

@@ -1,55 +0,0 @@
-import rclpy
-from rclpy.node import Node
-import tf2_ros
-import geometry_msgs.msg as gm
-
-
-class TF2PublisherNode(Node):
-
-    def __init__(self):
-        super().__init__('tf2_publisher_node')
-        self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
-        
-        self.timer = self.create_timer(0.1, self.publish_identity_transform)
-
-    def send_parent_child_identity_tf(self, parent, child):
-        transform_stamped = gm.TransformStamped()
-        transform_stamped.header.stamp = self.get_clock().now().to_msg()
-        transform_stamped.header.frame_id = parent
-        transform_stamped.child_frame_id = child
-
-        # Identity transform (no translation, no rotation)
-        transform_stamped.transform.translation.x = 0.0
-        transform_stamped.transform.translation.y = 0.0
-        transform_stamped.transform.translation.z = 0.0
-        transform_stamped.transform.rotation.x = 0.0
-        transform_stamped.transform.rotation.y = 0.0
-        transform_stamped.transform.rotation.z = 0.0
-        transform_stamped.transform.rotation.w = 1.0
-
-        self.tf_broadcaster.sendTransform(transform_stamped)
-
-
-    def publish_identity_transform(self):
-        # self.send_parent_child_identity_tf("map", "odom")
-        # self.send_parent_child_identity_tf("odom", "base_link")
-       # self.send_parent_child_identity_tf("base_link", "base_scan")
-       # self.send_parent_child_identity_tf("base_scan", "velodyne")
-        self.send_parent_child_identity_tf("base_link", "velodyne")
-        self.send_parent_child_identity_tf("base_link", "base_footprint")
-    
-
-        self.get_logger().info('Published identity transform')
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    tf2_publisher = TF2PublisherNode()
-    rclpy.spin(tf2_publisher)
-
-    tf2_publisher.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

src/dcaitirobot/dcaitirobot/twist.py

@@ -15,6 +15,10 @@ SMOOTH_WEIGHTS = np.array([1, 2, 4, 10, 20])
 
 
 class TwistPublisher(Node):
+    """
+    This node serves as a bridge between the Joy messages published from the PS3 controller
+    interface in joy.py and the Twist messages expected by ros_control.
+    """
     def __init__(
         self,
         smooth_weights=np.ones(5),
@@ -40,10 +44,6 @@ class TwistPublisher(Node):
         self.linear_scale = linear_scale
         self.angular_scale = angular_scale
 
-        # self.publisher_ = self.create_publisher(
-        #     Twist, "/diff_cont/cmd_vel_unstamped", 1
-        # )
-
         self.publisher_2 = self.create_publisher(Twist, "/cmd_vel_joystick", 1)
 
         self.create_subscription(Joy, "/joy", self.joy_callback, 1)
@@ -83,16 +83,7 @@ class TwistPublisher(Node):
 
         msg.linear.x = self.linear_out
         msg.angular.z = self.angular_out
-        # self.publisher_.publish(msg)
         self.publisher_2.publish(msg)
-        # self.get_logger().info(
-        #     "Linear_window: {}, Linear_out: {}, Angular_window: {}, Angular_out: {}".format(
-        #         self.linear_window,
-        #         self.linear_out,
-        #         self.angular_window,
-        #         self.angular_out,
-        #     )
-        # )
 
 
 def main(args=None):