text: #!/usr/bin/env python2
  
  import rospy
  from geometry_msgs.msg import Twist
  
  def main():
      rospy.init_node('estop_pub')
  
      estop_pub = rospy.Publisher('/estop_cmd_vel', Twist, queue_size=10)
      estop_msg = Twist()
  
      estop_msg.linear.x = 0
      estop_msg.linear.y = 0
      estop_msg.linear.z = 0
      estop_msg.angular.x = 0
      estop_msg.angular.y = 0
      estop_msg.angular.z = 0
  
      rate = rospy.Rate(50)
      while not rospy.is_shutdown():
          estop_pub.publish(estop_msg)
          rate.sleep()
  
  if __name__ == '__main__':
      try:
          main()
      except rospy.ROSInterruptException:
          pass
  