text: #!/usr/bin/env python
  import rospy
  from sensor_msgs.msg import Joy
  from std_msgs.msg import Float64
  import time
  
  from sheldon_servos.standard_servo_positions import *
  from sheldon_servos.set_servo_speed import *
  from sheldon_servos.set_servo_torque import *
  
  
  def callback(data):
      if data.buttons[5] == 1: # Right Top Trigger
      	pub_pan.publish(data.axes[2] * -1.0)
      	pub_tilt.publish(data.axes[3] * -1.0)
      	pub_sidetilt.publish(0.0)
  
          #if data.axes[4] > 0.0:
          #    pub_sidetilt.publish(0.25)
  	#elif data.axes[4] < 0.0:
      	#    pub_sidetilt.publish(-0.25)
          #else:
      	#    pub_sidetilt.publish(0.0)
  
      #if data.buttons[6] == 1:  # Left Bottom Trigger USED BY WHEELS!
      if data.buttons[7] == 1:  # Right Bottom Trigger
      	print("Right Bottom Trigger") # available
   
      # NOTE: Non-Trigger buttons are handled in sheldon_joy_buttons
  
      
  def listener():
      rospy.init_node('listener', anonymous=True)
      rospy.Subscriber("/joy", Joy, callback)
      rospy.spin()
  
  if __name__ == '__main__':
  
      listener()
  