text: #!/usr/bin/python
  
  import roslib
  import rospy
  import serial
  import syslog
  import time
  import datetime
  import calendar
  import sys, os
  from std_msgs.msg import Int8
  
  from geometry_msgs.msg import Twist
  from std_msgs.msg import UInt16
  
  import socket
  import re
  global chairbot_number
  hostname = socket.gethostname()
  chair_id = re.search(r"\d+(\.\d+)?", hostname)
  chairbot_number = chair_id.group(0)
  
  global send
  send = False
  
  def sending(var):
      global send
      if (var.data == 1):
          send = True
      elif (var.data == 0):
          send = False
  
  def run():
      port = rospy.get_param('~arduino_port', "/dev/arduino")
      try:
          ard = serial.Serial(port, 9600, timeout=5)
      except serial.SerialException:
          raise OSError('\n \033[1;32;40m Oops!! looks like the ARDUINO is not connected, try turning it ON or Reconnect \n')
      global send
      print 'Message from arduino: '
      while True:
          try:
              msg = ard.readline()
              splits = msg.split(' ')
              if (splits[1] == '1'):
              	touch = int(splits[0])
              	pub_touch.publish(touch)
              	print(touch)
              elif (splits[1] == '2'):
              	release = int(splits[0]) + 12
              	pub_touch.publish(release)
              	print(release)
              if (send):
                  ard.write('i') 
              else:
                  ard.write('o')
          except IndexError:
              continue
          except KeyboardInterrupt:
              sys.exit()
  
  if __name__ == '__main__':
  
      rospy.init_node('arduino'+chairbot_number, anonymous=True)
      pub_touch = rospy.Publisher('/touches'+chairbot_number, Int8, queue_size=10)
      rospy.Subscriber("/led"+chairbot_number, Int8, sending, queue_size=10)
      try:
          run()
      except rospy.ROSInitException:
          pass
  
  
  			
  