prev_start_autonomous = False
pub_start_autonomous.publish(msg)
continue
if key in keyBindings.keys():
x = keyBindings[key][0]
th = keyBindings[key][1]
else:
x = 0
th = 0
if (key == '\x03'):
break
msg = AckermannDrive()
msg.speed = x * speed
msg.acceleration = 1
msg.jerk = 1
msg.steering_angle = th * turn
msg.steering_angle_velocity = 1
print (msg)
pub_ackermann.publish(msg)
except:
print 'error'
finally:
msg = AckermannDrive()
msg.speed = 0
msg.acceleration = 1
msg.jerk = 1
