if bumperblue['state']==0:
move_cmd = Twist()
move_cmd.linear.x = .5
r.cmd_vel.publish(move_cmd)
else:
turn_cmd = Twist()
turn_cmd.linear.x = -.05
turn_cmd.angular.z = 1;
r.cmd_vel.publish(turn_cmd)
print("\n attempting to get pose")
testdata = r.getPosition()
print(testdata)
print("getting the euler angle from internal odom")
euler = r.getAngle()
print("current position")
print(r.getPositionTup())
print("\nattempting turn")
r.turn(.5)
r.driveDistance(.25)
print("\n printing map")
r.printMap()
'''
except Exception as e:
print(e)
rospy.loginto("node now terminated")
def callback(data):
rospy.loginto(rospy.get_caller_id() + str(data.data))
print(data.data)
