code: def __callback (self, event):
          '''
          Callback function to receive and save Bumper Scans. 
  
          @param event: ROS BumperScan received
          
          @type event: BumperScan
  
          '''
          bump = bumperEvent2BumperData(event)
  
          if bump.state == 1:
              self.lock.acquire()
              self.time = current_milli_time()
              self.data = bump
              self.lock.release(f __callback (self, event):
          '''
          Callback function to receive and save Bumper Scans. 
  
          @param event: ROS BumperScan received
          
          @type event: BumperScan
  
          '''
          bump = bumperEvent2BumperData(event)
  
          if bump.state == 1:
              self.lock.acquire()
              self.time = current_milli_time()
              self.data = bump
              self.lock.release()
docs: Callback function to receive and save Bumper Scans. 
  
          @param event: ROS BumperScan received
          
          @type event: BumperScan