text: #!/usr/bin/env python
  
  PKG = 'keyboard_control'
  
  import roslib; roslib.load_manifest(PKG)
  import serial
  import rospy
  from kraken_msgs.msg import thrusterData6Thruster
  
  from resources import topicHeader
  
  recieved = thrusterData6Thruster()
  
  def thrustCB(data):
  
  	global recieved
  
  	recieved.data[0] = data.data[0]
  	recieved.data[1] = data.data[1]
  	recieved.data[2] = data.data[2]
  	recieved.data[3] = data.data[3]
  	recieved.data[4] = data.data[4]
  	recieved.data[5] = data.data[5]
  
  def startModule():
  
  	thruster6Data=thrusterData6Thruster();
  	
  	# rospy.init_node('keep_thrusters_alive', anonymous=True)
  	sub = rospy.Subscriber(topicHeader.CONTROL_PID_THRUSTER6, thrusterData6Thruster, thrustCB)
  	pub6 = rospy.Publisher(topicHeader.CONTROL_PID_THRUSTER6, thrusterData6Thruster, queue_size = 10)
  
  	r = rospy.Rate(10)
  
  	while not rospy.is_shutdown():
  
  		thruster6Data.data[0] = recieved.data[0]
  		thruster6Data.data[1] = recieved.data[1]
  		thruster6Data.data[2] = recieved.data[2]
  		thruster6Data.data[3] = recieved.data[3]
  		thruster6Data.data[4] = recieved.data[4]
  		thruster6Data.data[5] = recieved.data[5]
  
  		pub6.publish(thruster6Data)
  		
  		r.sleep()
  
  import thread
  thread.start_new_thread(startModule, ())
  