+screen 2 zsh -is eval '(($(/usr/sbin/i2cget -y 2 0x38 || echo 0xff) & 0x01)) || roslaunch --wait wild_thumper teleop.launch'
+#screen 3 zsh -is eval '(($(/usr/sbin/i2cget -y 2 0x38 || echo 0xff) & 0x02)) || roslaunch --wait wild_thumper move_base.launch'
+#screen 4 zsh -is eval '(($(/usr/sbin/i2cget -y 2 0x38 || echo 0xff) & 0x02)) || (sleep 20 && rosservice call global_localization)'