code: def __callback (self, odom):
          '''
          Callback function to receive and save Pose3d. 
  
          @param odom: ROS Odometry received
          
          @type odom: Odometry
  
          '''
          pose = odometry2Pose3D(odom)
  
          self.lock.acquire()
          self.data = pose
          self.lock.release(f __callback (self, odom):
          '''
          Callback function to receive and save Pose3d. 
  
          @param odom: ROS Odometry received
          
          @type odom: Odometry
  
          '''
          pose = odometry2Pose3D(odom)
  
          self.lock.acquire()
          self.data = pose
          self.lock.release()
docs: Callback function to receive and save Pose3d. 
  
          @param odom: ROS Odometry received
          
          @type odom: Odometry