def __callback (self, event):
        '''
        Callback function to receive and save Bumper Scans. 

        @param event: ROS BumperScan received
        
        @type event: BumperScan

        '''
        bump = bumperEvent2BumperData(event)

        if bump.state == 1:
            self.lock.acquire()
            self.time = current_milli_time()
            self.data = bump
            self.lock.release()
def __callback ( self , event ) : bump = bumperEvent2BumperData ( event ) if bump . state == 1 : self . lock . acquire ( ) self . time = current_milli_time ( ) self . data = bump self . lock . release ( )
Callback function to receive and save Bumper Scans. 

        @param event: ROS BumperScan received
        
        @type event: BumperScan