new_contents: #!/usr/bin/env python3
  import rospy
  from std_srvs.srv import Empty, EmptyRequest
  from bitbots_buttons.msg import Buttons
  
  rospy.init_node("zero_feet_on_buttons")
  zero_l = rospy.ServiceProxy("/foot_pressure_left/set_foot_zero", Empty)
  zero_r = rospy.ServiceProxy("/foot_pressure_right/set_foot_zero", Empty)
  button_prev_state = False
  press_time = rospy.get_rostime() - rospy.Duration(1.0)
  
  def cb(msg):
      global button_prev_state, press_time
      print("New msg")
      print(msg.button1)
      print(not button_prev_state)
      print(rospy.get_rostime() - press_time > rospy.Duration(1.0))
      if msg.button1 and not button_prev_state and rospy.get_rostime() - press_time > rospy.Duration(1.0):
          zero_l()
          zero_r()
          press_time = rospy.get_rostime()
      button_prev_state = msg.button1
  
  
  rospy.Subscriber("/buttons", Buttons, cb, queue_size=1)
  rospy.spin()
  
subject: add script to zero on pressin the white button