remove package not working

src/beacon_positioning/.vscode/settings.json

@@ -1,3 +0,0 @@
-{
-    "ros.distro": "humble"
-}

src/beacon_positioning/CMakeLists.txt

@@ -1,65 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(beacon_positioning)
-
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(positioning_systems_api REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(beacon_positioning REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/TrackerPosition.msg" # message for tracker position
-)
-
-
-add_executable(tracker_position src/tracker_position.cpp)
-ament_target_dependencies(tracker_position rclcpp std_msgs beacon_positioning)
-
-target_link_libraries(tracker_position
-positioning_systems_api::serial_communication
-  positioning_systems_api::rtls_driver
-)
-
-target_include_directories(tracker_position PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-
-install(TARGETS tracker_position
-  DESTINATION lib/${PROJECT_NAME})
-
-install(
-  DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()

src/beacon_positioning/launch/beacon_positioning_launch.py

@@ -1,27 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package="beacon_positioning",
-            executable="tracker_position",
-            name="beacon_tracker_0",
-	    namespace="tracker0",
-            parameters=[
-                {"tracker_serial_port": "/dev/ttyUSB0"}
-            ]
-        ),
-        Node(
-            package="beacon_positioning",
-            executable="tracker_position",
-            name="beacon_tracker_1",
-	    namespace="tracker1",
-            output="screen",
-            emulate_tty=True,
-            parameters=[
-                {"tracker_serial_port": "/dev/ttyUSB1"}
-            ]
-        )
-
-    ])

src/beacon_positioning/msg/TrackerPosition.msg

@@ -1,5 +0,0 @@
-int32 id
-int64 x_pos
-int64 y_pos
-int64 z_pos
-int64[4] anchor_distances

src/beacon_positioning/package.xml

@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>beacon_positioning</name>
-  <version>0.0.0</version>
-  <description>ROS 2 package to read the Terabee Robot Positioning System beacons positions</description>
-  <maintainer email="semmer99@gmail.com">sem</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
-
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

src/beacon_positioning/src/tracker_position.cpp

@@ -1,183 +0,0 @@
-#include <cstdio>
-#include <chrono>
-
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
-#include "beacon_positioning/msg/tracker_position.hpp"
-
-#include "rtls_driver/rtls_driver.hpp"
-
-// from the example: https://github.com/Terabee/positioning_systems_api/blob/master/examples/rtls_tracker_example.cpp
-#include "serial_communication/serial.hpp"
-
-#define TRACKER_0_PORT "/dev/ttyUSB0"
-#define TRACKER_1_PORT "/dev/ttyUSB1"
-
-#define TRACKER_0_PRIORITY 0
-#define TRACKER_1_PRIORITY 1
-using SerialInterface = terabee::serial_communication::Serial;
-
-using namespace std::chrono_literals;
-
-class BeaconPositioningPublisher : public rclcpp::Node
-{
-public:
-  BeaconPositioningPublisher() : Node("beacon_positioning")
-  {
-
-    this->declare_parameter("tracker_serial_port", "/dev/ttyUSB0");
-
-    std::string serial_port_name = this->get_parameter("tracker_serial_port").as_string();
-
-    RCLCPP_INFO(this->get_logger(), "serial port is %s\n", serial_port_name.c_str());
-
-    serial_port = std::make_shared<SerialInterface>("/dev/ttyUSB0");
-    serial_port->setBaudrate(115200);
-    serial_port->setTimeout(800ms);
-
-    rtls_device = terabee::RtlsDevice(serial_port);
-
-    RCLCPP_INFO(this->get_logger(), "Opening serial port of tracker!");
-    serial_port->open();
-
-    if (!serial_port->isOpen())
-    {
-      RCLCPP_ERROR(this->get_logger(), "Failed to open serial port!");
-      return;
-    }
-
-    publisher_ = this->create_publisher<beacon_positioning::msg::TrackerPosition>("beacon_positioning", 10);
-    timer_ = this->create_wall_timer(
-        500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
-  }
-
-  void setup_rtlsdevice(terabee::RtlsDevice *rtls_device, int priority, int label, int update_time, int network_id, bool long_message)
-  {
-    rtls_device->disableTrackerStream();
-    serial_port->flushInput();
-    rtls_device->setDevice(terabee::RtlsDevice::device_type::tracker, priority);
-    rtls_device->setLabel(label);
-    rtls_device->setUpdateTime(update_time);
-    rtls_device->setNetworkId(network_id);
-    if (long_message)
-    {
-      rtls_device->setTrackerMessageLong();
-    }
-    else
-    {
-      rtls_device->setTrackerMessageShort();
-    }
-    rtls_device->enableLED();
-    rtls_device->requestConfig();
-    device_configuration = rtls_device->getConfig();
-
-    rtls_device->enableTrackerStream();
-
-    RCLCPP_INFO(this->get_logger(), "Tracker configured");
-  }
-
-  std::shared_ptr<terabee::serial_communication::ISerial> get_serial_port()
-  {
-    return serial_port;
-  }
-
-  void publish(beacon_positioning::msg::TrackerPosition msg)
-  {
-    publisher_->publish(msg);
-  }
-
-  void set_tracker_id(int id)
-  {
-    if (id >= 0) {
-      tracker_id = id;
-    }
-  }
-
-  int get_tracker_id()
-  {
-    return tracker_id;
-  }
-
-private:
-  void timer_callback()
-
-  {
-    // auto message = std_msgs::msg::String();
-    // message.data = "Hello beacons!";
-    // RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
-    // publisher_->publish(message);
-  }
-
-  rclcpp::TimerBase::SharedPtr timer_;                            // timer to trigger the
-  rclcpp::Publisher<beacon_positioning::msg::TrackerPosition>::SharedPtr publisher_; // pointer to publisher object
-  int tracker_id;
-
-  // terabee tower evo variables
-  std::shared_ptr<terabee::serial_communication::ISerial> serial_port; // serial port for communicating with tracker
-  terabee::RtlsDevice::config_t device_configuration;
-  terabee::RtlsDevice::OnTrackerDataCallback tracker_data_callback_;
-  terabee::RtlsDevice::tracker_msg_t tracker_msg;
-  terabee::RtlsDevice rtls_device;
-};
-
-int main(int argc, char **argv)
-{
-  (void)argc;
-  (void)argv;
-
-  printf("starting tracker node of beacon_positioning package\n");
-
-  rclcpp::init(argc, argv);
-  rclcpp::executors::MultiThreadedExecutor executor;
-  std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>();
-  executor.add_node(node);
-  terabee::RtlsDevice rtls_device(node->get_serial_port());
-  if (node->get_parameter("tracker_serial_port").as_string().compare(TRACKER_0_PORT))
-  {
-    RCLCPP_INFO(node->get_logger(),"Configuring RTLS device for tracker 0");
-    node->set_tracker_id(0);
-    node->setup_rtlsdevice(&rtls_device, 0, 0, 50, 0, true);
-  } else 
-  {
-    RCLCPP_INFO(node->get_logger(),"Configuring RTLS device for tracker 1");
-    node->set_tracker_id(1);
-    node->setup_rtlsdevice(&rtls_device, 1, 1, 50, 0, true);
-  }
-
-  rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg)
-                                                    {
-    if (tracker_msg.is_valid_position) 
-    {
-      RCLCPP_INFO(node->get_logger(), "x = %f, y = %f, z = %f", tracker_msg.tracker_position_xyz.at(0), tracker_msg.tracker_position_xyz.at(1), tracker_msg.tracker_position_xyz.at(2));
-      for (int i = 0; i < tracker_msg.anchors_data.size(); i++)
-      {
-        RCLCPP_INFO(node->get_logger(), "anchor number= %d, distance = %d, x = %d, y = %d, z = %d", tracker_msg.anchors_data[i].number, tracker_msg.anchors_data[i].distance, tracker_msg.anchors_data[i].pos_x, tracker_msg.anchors_data[i].pos_y, tracker_msg.anchors_data[i].pos_z);
-      }
-      RCLCPP_INFO(node->get_logger(), "");
-      auto message = beacon_positioning::msg::TrackerPosition();
-      message.id = node->get_tracker_id();
-      message.x_pos = tracker_msg.tracker_position_xyz.at(0);
-      message.y_pos = tracker_msg.tracker_position_xyz.at(1);
-      message.z_pos = tracker_msg.tracker_position_xyz.at(2);
-      message.anchor_distances = {0, 0, 0, 0};
-      for (int i = 0; i < tracker_msg.anchors_data.size(); i++)
-      {
-        message.anchor_distances[i] = tracker_msg.anchors_data[i].distance;
-      }
-
-      node->publish(message);
-    }
-    else
-    {
-      RCLCPP_ERROR(node->get_logger(), "invalid tracker position");
-      // RCLCPP_INFO(node->get_logger(), "x = %f, y = %f, z = %f", tracker_msg.tracker_position_xyz[0], tracker_msg.tracker_position_xyz[1], tracker_msg.tracker_position_xyz[2]);
-    } });
-
-  rtls_device.startReadingStream();
-  executor.spin();
-  rclcpp::shutdown();
-
-  rtls_device.stopReadingStream();
-
-  return node->get_serial_port()->close() ? 0 : -1;
-}