parameters: (self, block_until_data=True)
docstring: Returns the latest msg from the subscribed topic
  
          Parameters:
              block_until_data (bool): block if no message has been received yet. 
                                       Guarantees a msg is returned (not None)
docstring_summary: Returns the latest msg from the subscribed topic
docstring_tokens: Returns the latest msg from the subscribed topic
function: def get(self, block_until_data=True):
          """
          Returns the latest msg from the subscribed topic
  
          Parameters:
              block_until_data (bool): block if no message has been received yet. 
                                       Guarantees a msg is returned (not None)
          """
          wait_for(lambda: not (block_until_data and self.data is None))
              
          with self.lock:
              return self.data
function_tokens: def get ( self , block_until_data = True ) : wait_for ( lambda : not ( block_until_data and self . data is None ) ) with self . lock : return self . data