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)