old_contents: import getopt
  import os
  import sys
  
  import roslib
  roslib.load_manifest('calibration')
  import rospy
  
  from baxter_msgs.msg import (
      CalibrateArmEnable,
  )
  
  import baxter_interface.robustcontroller
  
  class CalibrateArm(baxter_interface.robustcontroller.RobustController):
      def __init__ (self, limb):
          """
          Wrapper to run the CalibrateArm RobustController.
  
          @param limb - Limb to run CalibrateArm on [left/right]
          """
          enable_msg = CalibrateArmEnable(isEnabled = True, uid = 'sdk')
  
          disable_msg = CalibrateArmEnable(isEnabled = False, uid = 'sdk')
  
          # Initialize RobustController, use 10 minute timeout for the CalibrateArm process
          super(CalibrateArm, self).__init__(
              '/robustcontroller/%s/CalibrateArm' % (limb,),
              enable_msg,
              disable_msg,
              10 * 60)
  
  def usage():
          print """
  %s [ARGUMENTS]
  
      -h, --help              This screen
      -c, --calibrate [LIMB]  Calibrate the specified arm [left/right]
      """ % (os.path.basename(sys.argv[0]),)
  
  def main():
      try:
          opts, args = getopt.getopt(sys.argv[1:], 'hc:',
              ['help', 'calibrate=',])
      except getopt.GetoptError as err:
          print str(err)
          usage()
          sys.exit(2)
  
      arm = None
      for o, a in opts:
          if o in ('-h', '--help'):
              usage()
              sys.exit(0)
          elif o in ('-c', '--calibrate'):
              arm = a
  
      if not arm:
          usage()
          rospy.logerr("No arm specified")
          sys.exit(1)
  
      rospy.init_node('calibrate_arm_sdk', anonymous=True)
      cat = CalibrateArm(arm)
      rospy.loginfo("Running calibrate on %s arm" % (arm,))
      ret, msg = cat.run()
  
      if ret == 0:
          rospy.loginfo("Calibrate arm finished")
      else:
          rospy.logerr("Calibrate arm failed: %s" % (msg,))
  
      sys.exit(ret)
  
  if __name__ == '__main__':
      main()
  
new_contents: import getopt
  import os
  import sys
  
  import roslib
  roslib.load_manifest('calibration')
  import rospy
  
  from baxter_msgs.msg import (
      CalibrateArmEnable,
  )
  
  import baxter_interface.robustcontroller
  
  class CalibrateArm(baxter_interface.robustcontroller.RobustController):
      def __init__ (self, limb):
          """
          Wrapper to run the CalibrateArm RobustController.
  
          @param limb - Limb to run CalibrateArm on [left/right]
          """
          enable_msg = CalibrateArmEnable(isEnabled = True, uid = 'sdk')
  
          disable_msg = CalibrateArmEnable(isEnabled = False, uid = 'sdk')
  
          # Initialize RobustController, use 10 minute timeout for the CalibrateArm process
          super(CalibrateArm, self).__init__(
              '/sdk/robustcontroller/%s/CalibrateArm' % (limb,),
              enable_msg,
              disable_msg,
              10 * 60)
  
  def usage():
          print """
  %s [ARGUMENTS]
  
      -h, --help              This screen
      -c, --calibrate [LIMB]  Calibrate the specified arm [left/right]
      """ % (os.path.basename(sys.argv[0]),)
  
  def main():
      try:
          opts, args = getopt.getopt(sys.argv[1:], 'hc:',
              ['help', 'calibrate=',])
      except getopt.GetoptError as err:
          print str(err)
          usage()
          sys.exit(2)
  
      arm = None
      for o, a in opts:
          if o in ('-h', '--help'):
              usage()
              sys.exit(0)
          elif o in ('-c', '--calibrate'):
              arm = a
  
      if not arm:
          usage()
          rospy.logerr("No arm specified")
          sys.exit(1)
  
      rospy.init_node('calibrate_arm_sdk', anonymous=True)
      cat = CalibrateArm(arm)
      rospy.loginfo("Running calibrate on %s arm" % (arm,))
      ret, msg = cat.run()
  
      if ret == 0:
          rospy.loginfo("Calibrate arm finished")
      else:
          rospy.logerr("Calibrate arm failed: %s" % (msg,))
  
      sys.exit(ret)
  
  if __name__ == '__main__':
      main()
  
subject: fix calibrate arm namespace