anchor.diff:  ;; @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_magnitude_constraint is_interior is_angluar
  -              data min max) constraint-msg
  +              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")
  +;    (ros-info EVENT_BULLET_WORLD "Checking constraint")
   ;    (let ((msg constraint-msg))
   ;      (#'lambda ()
   ;                (let ((value (get-current-value msg)))
  
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: 
  (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)
  