diff --git a/scripts/localize.py b/scripts/localize.py
index 42a28ad..b04492c 100755
--- a/scripts/localize.py
+++ b/scripts/localize.py
@@ -68,16 +68,16 @@ def is_listed(anchors, id):
 def get_serial_data():
     # ser.write('+')
     start = ser.read()
-    return ser.readline().strip('$\r\n').split(',')
-    # if start == '$':
-    #     data_string = ser.readline().strip('\r\n').split(',')
-    #     return data_string
-    # else:
-    #     return None
+    # return ser.readline().strip('$\r\n').split(',')
+    if start == '$':
+        data_string = ser.readline().strip('\r\n').split(',')
+        return data_string
+    else:
+        return None
 
 if __name__ == '__main__':
 
-    rospy.init_node('lips')
+    rospy.init_node('ros_dwm1000')
     listener = tf.TransformListener()
     start_time = rospy.get_time()
     #create rosparameters
@@ -104,15 +104,14 @@ def get_serial_data():
     beacon_count = 0
 
     while not rospy.is_shutdown():
-        #just give some delay for serial
-        rospy.sleep(0.1)
         data_string = get_serial_data()
-        print data_string
-        if 'None' != data_string:
-            # print "hello"
+        # print data_string
+        if None != data_string:
             #check if current anchor has already been listed
             #check if the current range is within specified distance
-            if (not is_listed(anchors, data_string[0])) and (MIN_RANGE < float(data_string[1]) < MAX_RANGE):
+            # if (not is_listed(anchors, data_string[0])) and (MIN_RANGE < float(data_string[1]) < MAX_RANGE):
+            if MIN_RANGE < float(data_string[1]) < MAX_RANGE:
+
                 anchors.append(data_string[0])
                 ranges.append(data_string[1])
                 transforms.append(get_transform(data_string[0]))
@@ -121,7 +120,6 @@ def get_serial_data():
         #perform trilateration once enough anchors have been found
         if beacon_count == REQ_ANCHOR:
             #do trilateration
-            print transforms
             pos = get_tag_location(anchors,ranges,transforms)
 
             #broadcast the transform
diff --git a/scripts/serialtest.py b/scripts/serialtest.py
new file mode 100644
index 0000000..71bb051
--- /dev/null
+++ b/scripts/serialtest.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+
+'''
+ Copyright (c) 2016, Juan Jimeno
+
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice,
+ this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of  nor the names of its contributors may be used to
+ endorse or promote products derived from this software without specific
+ prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+'''
+
+
+import serial
+
+def get_serial_data():
+    # ser.write('+')
+    start = ser.read()
+    # return ser.readline().strip('$\r\n').split(',')
+    if start == '$':
+        data_string = ser.readline().strip('\r\n').split(',')
+        return data_string
+    else:
+        return None
+
+if __name__ == '__main__':
+    SERIAL_PORT = '/dev/ttyUSB0'
+    ser = serial.Serial(SERIAL_PORT, 115200)
+    ser.timeout = None
+
+    ranges = []
+    anchors = []
+    transforms = []
+    beacon_count = 0
+
+    while True:
+        data_string = get_serial_data()
+        print data_string