rospy.Subscriber('guesser/position/guessers', Announce, server.updateStack)
rospy.sleep(5.0) # wait for the subscriber to be set up
pts = Belief()
pts.sender = "perfesser"
pts.data_type = "location"
pts.pers = (0.0, 0.0, 2 * math.pi)
counter = 0
while True:
r = server.surveyGuess(guesser)
if not r.no_data:
pts.points = guesser.outPoints()
pts.means = guesser.means()
pts.stds = guesser.stds()
pts.source_stamp = guesser.stamp
pts.source_data = guesser.source_data
pts.data_type = "location"
pts.header.stamp = rospy.Time.now()
counter += 1
pub.publish(pts)
rospy.sleep(wait_time)
rospy.spin()
