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+## Example 5
+
+![image]()
+
+
+```bash
+roslaunch stretch_gazebo gazebo.launch world:=worlds/willowgarage.world rviz:=true
+```
+
+
+```bash
+cd catkin_ws/src/stretch_ros_turotials/src/
+python3 marker.py
+```
+.
+
+![image]()
+
+
+### The Code
+```python
+#!/usr/bin/env python
+
+import rospy
+import sys
+from sensor_msgs.msg import JointState
+
+class JointStatePublisher():
+	"""
+	A class that prints the positions of desired joints in Stretch.
+	"""
+	def __init__(self):
+		"""
+		Function that initializes the subsriber.
+		:param self: The self reference
+		"""
+		self.sub = rospy.Subscriber('joint_states', JointState, self.callback)
+
+	def callback(self, msg):
+		"""
+		Callback function to deal with the incoming JointState messages.
+		:param self: The self reference
+		:param msg: The JointState message.
+		"""
+		self.joint_states = msg
+
+	def print_states(self, joints):
+		"""
+		print_states function to deal with the incoming JointState messages.
+		:param self: The self reference.
+		:param joints: A list of joint names
+		"""
+		joint_positions = []
+		for i in range(len(joints)):
+			index = self.joint_states.name.index(joints[i])
+			joint_positions.append(self.joint_states.position[index])
+		print(joint_positions)
+		rospy.signal_shutdown("done")
+		sys.exit(0)
+
+if __name__ == '__main__':
+	rospy.init_node('joint_state_printer', anonymous=True)
+	JSP = JointStatePublisher()
+	rospy.sleep(.1)
+	joints = ["joint_lift", "joint_arm_l0", "joint_wrist_yaw"]
+	JSP.print_states(joints)
+	rospy.spin()
+```
+
+
+### The Code Explained
+Now let's break the code down.
+
+```python
+#!/usr/bin/env python
+```
+Every Python ROS [Node](http://wiki.ros.org/Nodes) will have this declaration at the top. The first line makes sure your script is executed as a Python script.
+
+
+```python
+import rospy
+import sys
+from sensor_msgs.msg import JointState
+```
+You need to import rospy if you are writing a ROS Node. Import sensor_msgs.msg so that we can subscribe to JointState messages.
+
+```python
+self.sub = rospy.Subscriber('joint_states', JointState, self.callback)
+```
+Set up a subscriber.  We're going to subscribe to the topic "joint_states", looking for JointState messages.  When a message comes in, ROS is going to pass it to the function "callback" automatically
+
+```python
+def callback(self, msg):
+	self.joint_states = msg
+```
+This is the callback function where he JointState messages are stored as *self.joint_states*. Further information about the this message type can be found here: [JointState Message](http://docs.ros.org/en/lunar/api/sensor_msgs/html/msg/JointState.html)
+
+```python
+def print_states(self, joints):
+	joint_positions = []
+
+```
+This is the *print_states()* function which takes in a list of joints of interest as its argument. the is also an empty list set as *joint_positions* and this is where the positions of the requested joints will be appended.
+
+```python
+for i in range(len(joints)):
+	index = self.joint_states.name.index(joints[i])
+	joint_positions.append(self.joint_states.position[index])
+print(joint_positions)
+```
+In this section of the code, a forloop is used to parse the names of the requested joints from the *self.joint_states* list. The index() function returns the index a of the name of the requested joint and appends the respective position to our *joint_positions* list.
+
+```python
+rospy.signal_shutdown("done")
+sys.exit(0)
+```
+The first line of code initias a clean shutodwn of ROS. The second line of code exits the Python interpreter.
+
+```python
+rospy.init_node('joint_state_printer', anonymous=True)
+JSP = JointStatePublisher()
+rospy.sleep(.1)
+```
+The next line, rospy.init_node(NAME, ...), is very important as it tells rospy the name of your node -- until rospy has this information, it cannot start communicating with the ROS Master. In this case, your node will take on the name talker. NOTE: the name must be a base name, i.e. it cannot contain any slashes "/".
+
+Setup `JointStatePublisher()` class as *JSP*
+
+The use of the `rospy.sleep()` function is to allow the *JSP* class to initialize all of its features before requesting to publish joint positions of desired joints (running the `print_states()` function).
+
+```python
+joints = ["joint_lift", "joint_arm_l0", "joint_wrist_yaw"]
+JSP.print_states(joints)
+```
+Create a list of the desired joints that you want positions to be printed. Then use that list as an argument for the `print_states()` function. 
+
+```python
+rospy.spin()
+```
+Give control to ROS with `rospy.spin()`. This will allow the callback to be called whenever new messages come in. If we don't put this line in, then the node will not work, and ROS will not process any messages.