From 4830c2e2522877b0ada6a6d0cf6f734e5eb204d9 Mon Sep 17 00:00:00 2001
From: Simon Pirkelmann <simon.pirkelmann@gmail.com>
Date: Mon, 12 Aug 2019 16:48:59 +0200
Subject: [PATCH] removed fiducial transformation script duplicate

---
 remote_control/fiducial_to_2d_pos_angle.py | 38 ----------------------
 1 file changed, 38 deletions(-)
 delete mode 100644 remote_control/fiducial_to_2d_pos_angle.py

diff --git a/remote_control/fiducial_to_2d_pos_angle.py b/remote_control/fiducial_to_2d_pos_angle.py
deleted file mode 100644
index 56717bf..0000000
--- a/remote_control/fiducial_to_2d_pos_angle.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import sys
-import rospy
-
-from marker_pos_angle.msg import id_pos_angle
-from fiducial_msgs.msg import FiducialTransformArray
-from tf.transformations import euler_from_quaternion
-
-pub = rospy.Publisher('marker_id_pos_angle', id_pos_angle, queue_size=10)
-'''
-This callback function listens to fiducial messages that describe the translation and rotation of markers w.r.t. to the 
-camera and transforms them to a position in the 2d plane and the angle of the robot in the plane
-'''
-def callback(data):
-    for d in data.transforms:
-        id = d.fiducial_id
-
-        q = d.transform.rotation
-        t = d.transform.translation
-
-        euler = euler_from_quaternion([q.x, q.y, q.z, q.w])
-
-        m = id_pos_angle()
-        m.id = id
-        m.x = t.x
-        m.y = -t.y
-        m.angle = -euler[2]
-
-        pub.publish(m)
-
-def main(args):
-    rospy.init_node('euler_quaternion_node', anonymous=True)
-
-    quaternion_sub = rospy.Subscriber("/fiducial_transforms", FiducialTransformArray, callback)
-
-    rospy.spin()
-
-if __name__ == '__main__':
-    main(sys.argv)
\ No newline at end of file