text: #!/usr/bin/env python
  
  import roslib; roslib.load_manifest('commands')
  import rospy
  import tf.transformations
  from geometry_msgs.msg import Twist 
  
  def callback(msg):
      rospy.loginfo("Received a \cmd_vel message!")
      rospy.loginfo("Linear components: [%f, %f, %f]"%(msg.linear.x, msg.linear.y, msg.linear.z))
      rospy.loginfo("Angular components: [%f, %f, %f]"%(msg.angular.x, msg.angular.y, msg.angular.z))
      #Jeremy does his magic here 
  
  def receiveTwist():
      rospy.init_node('cmd_vel_listener',anonymous=True)
      rospy.Subscriber("/cmd_vel", Twist, callback)
  
      rospy.spin() #prevent python from exiting until this node is stopped
  
  if __name__ == '__main__':
      receiveTwist()
  