Notes

#!/usr/bin/env python

import roslib
import rospy
import os
import time
import serial
from std_msgs.msg import String
from std_msgs.msg import Bool

class BTreceiver():

def stateCallback(self, data):
self.state = data.data;

def __init__(self):
self.state = ""
# setup
rospy.init_node("android_bluetooth_node")
#publisher
self.pub = rospy.Publisher('/nexus_message', String, queue_size=1)
#self.debugpub = rospy.Publisher('BTdebug', String, queue_size=1)
#subscriber
self.sub = rospy.Subscriber("/current_task", String, self.stateCallback)
rate = rospy.Rate(10)

# Setup Bluetooth
os.system("sudo sdptool add --channel=16 SP");
os.system("sudo rfcomm listen /dev/rfcomm3 16 &");
print("YOU HAVE 20 SECONDS TO CONNECT THE APP!!!!!!!!!")
time.sleep(20) ##

os.system("sudo chmod 777 /dev/rfcomm3")

# Serial port setup
ser = serial.Serial()
ser.port = "/dev/rfcomm3" # may be called something different
ser.baudrate = 9600 # may be different
ser.timeout = 0 # may be different

ser.open()

rate = rospy.Rate(8) # 10hz
android_data = ""
oldData = ""
#self.debugpub.publish('line 50:')
while(ser.isOpen()):
if oldData != self.state:
ser.write(self.state)
oldData = self.state

if ser.inWaiting>0:
btMessage = ser.read()
#self.debugpub.publish(btMessage)
# self.pub.publish(self.state)
if btMessage == "$":
self.pub.publish(android_data)
print android_data
android_data = "";
else:
android_data = android_data+btMessage;
rate.sleep()
btMessage = "Lost Bluetooth Connection!! HELP!!"
self.pub.publish(btMessage)
rospy.spin();

if __name__ == '__main__':
try:
BTreceiver()
except rospy.ROSInterruptException:
rospy.loginfo("exception")