new_contents: #!/usr/bin/env python
  import rospy
  from sensor_msgs.msg import Image
  from cv_bridge import CvBridge, CvBridgeError
  import cv2
  from flexbe_core import EventState, Logger
  from flexbe_core.proxy import ProxySubscriberCached
  import os 
  import sys
  from sensor_msgs.msg import PointCloud2
  
  
  class StorePictureState(EventState):
  	'''
  	Stores the picture to the local home folder.
  
  	># Image 	Image		The received Image
  	<= done 			The picture has been received and stored.
  
  	'''
  
  	def __init__(self):
  		super(StorePictureState, self).__init__(outcomes = ['done'],	input_keys = ['Image'])
                  
  
  	def execute(self, userdata):
  		
  		return 'done'
  	def on_enter(self,userdata):
  		orig_img = userdata.Image
  		cv_image = bridge.imgmsg_to_cv2(image_message, desired_encoding="passthrough")
                  filename = os.path.expanduser('~/picture_'+str(rospy.Time.now()) 
     		cv2.imwrite(filename,cv_image)
                  print 'Picture has been saved to the home folder'	
  
  	
  		
  
subject: store picture state