screen 0 zsh -is eval 'roscore'
screen 1 zsh -is eval 'roslaunch --wait wild_thumper wild_thumper.launch'
-screen 2 zsh -is eval 'roslaunch --wait wild_thumper teleop.launch'
+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 'roslaunch --wait wild_thumper move_base.launch nomap:=true'
select 2