l1.5-safety-system/safety_master_plugin/scripts/master_restrictions.py

#!/usr/bin/env python

class Restrictions:

    def __init__(self,distance,angular_velocity,linear_velocity):
        self.distance = distance
        self.angular_velocity = angular_velocity
        self.linear_velocity = linear_velocity

    def update_restrictions(self,restrictions_msg):
        self.distance = restrictions_msg.distance.data
        self.linear_velocity = restrictions_msg.linear_velocity.data
        self.angular_velocity = restrictions_msg.angular_velocity.data