def __init__(self, topic='/sensor_values'):
self.bx = Baxter('left')
self.joint_v = {name: 0.0 for name in self.bx.limb.joint_names()}
self.stop = False
self.nh = rospy.init_node('SafetyStop')
self.sensor_sub = rospy.Subscriber(topic,
Int32MultiArray,
self.udpate_joint_v,
queue_size=1)
