anchor.diff:  
   (defun raise-event-pb (msg)
     "Publishes already prepared messages"
  +  (ros-info EVENT_BULLET_WORLD "Single check")
     (publish *raise-event-pub* msg))
   
   (def-service-callback event_bullet_world-srv:EventStatus (name)
  
positive.code: ;  (funcall (custom-function event))
  ;  which is better??
          #'(lambda (event)
            (setf (constraint-status-list event) '(t t))
            (loop for item in (constraints event)
              collect (single-constraint-check item))
                    ))))
    (let ((event (get-event-by-name event_name)))
    ;  (ros-info EVENT_BULLET_WORLD "~a Event added, ~a bindings. Running checks now" (event-name event) (response-type event))
      (create-thread event)))
  
negative.code: ;; @return (if (constraint violated) t nil)
  (defun single-constraint-check (constraint-msg) "Returns a lambda function which checks for this constraint"
    (with-fields(target_object source_object constraint_type
                is_relative is_scalar is_interior is_angular
                min max) constraint-msg
      (setf target_object (if (string= target_object "") "world" target_object))
  ;    (ros-info EVENT_BULLET_WORLD "Checking constraint")
  ;    (let ((msg constraint-msg))
  ;      (#'lambda ()
  ;                (let ((value (get-current-value msg)))
  