def init():
global lcd
global sub
pins = rospy.get_param('/pibot/pins/LCD1602')
lcd = Adafruit_CharLCD(pin_rs=pins['RS'],
pin_e=pins['EN'],
pins_db=pins['DATA'],
GPIO=None)
lcd.begin(16, 2)
lcd.clear()
lcd.write(' PiBot Loaded \n Hello World! ')
lcd.setCursor(0, 0)
rospy.init_node('lcd1602')
sub = rospy.Subscriber('/pibot/lcd1602', String, handler)
