Implemented fall recovery

script/controller.py

@@ -7,6 +7,19 @@ from teleoperation.srv import InformController, InformControllerResponse
 STATE = 'idle'  # Also walk, imitate and fallen
 
 
+def inform_controller_factory(who):
+    def inform_controller(what):
+        try:
+            inform_controller = rospy.ServiceProxy('inform_controller',
+                                                   InformController)
+            perm = inform_controller(who, what).permission
+        except rospy.service.ServiceException:
+            rospy.signal_shutdown('Controller is dead')
+            perm = False
+        return perm
+    return inform_controller
+
+
 def handle_request(r):
     module = r.module
     message = r.message
@@ -41,4 +54,3 @@ if __name__ == '__main__':
     rospy.init_node('controller')
     ic = rospy.Service('inform_controller', InformController, handle_request)
     rospy.spin()
-    # initialize stuff