code: def bumperEvent2BumperData(event):
      '''
      Translates from ROS BumperScan to JderobotTypes BumperData. 
  
      @param event: ROS BumperScan to translate
  
      @type event: BumperScan
  
      @return a BumperData translated from event
  
      # bumper
      LEFT   = 0
      CENTER = 1
      RIGHT  = 2
  
      #  state
      RELEASED = 0
      PRESSED  = 1
  
      '''
      bump = BumperData()
      bump.state = event.state
      bump.bumper = event.bumper
      
      #bump.timeStamp = event.header.stamp.secs + (event.header.stamp.nsecs *1e-9)
      return bumf bumperEvent2BumperData(event):
      '''
      Translates from ROS BumperScan to JderobotTypes BumperData. 
  
      @param event: ROS BumperScan to translate
  
      @type event: BumperScan
  
      @return a BumperData translated from event
  
      # bumper
      LEFT   = 0
      CENTER = 1
      RIGHT  = 2
  
      #  state
      RELEASED = 0
      PRESSED  = 1
  
      '''
      bump = BumperData()
      bump.state = event.state
      bump.bumper = event.bumper
      
      #bump.timeStamp = event.header.stamp.secs + (event.header.stamp.nsecs *1e-9)
      return bump
docs: Translates from ROS BumperScan to JderobotTypes BumperData. 
  
      @param event: ROS BumperScan to translate
  
      @type event: BumperScan
  
      @return a BumperData translated from event
  
      # bumper
      LEFT   = 0
      CENTER = 1
      RIGHT  = 2
  
      #  state
      RELEASED = 0
      PRESSED  = 1