def responder(zumy_name):
    # initalize the publishers
    grid = [[0 for _ in range(grid_size)] for b in range(grid_size)]

    pub = rospy.Publisher("/" + zumy_name + "/grid_with_zumy", gridZumy, queue_size=10)
    r = rospy.Rate(4) # 10hz
    counter = 0
    grid = None
    while not rospy.is_shutdown():

        #publish on all of my publishing topics
        # pub.publish(griZumy(   ))
        # print fimage
        # print "z"+ str(zumyxy)
        # print "h" + str(homography_aquired)
        if fimage is not None and zumyxy is not None and homography_aquired:
            if counter > 12 or counter == 0:
                print "new grid"
                grid = objects_on_grid()
                counter = 0

            zumy = (int(round((zumyxy[0] - length/2.0)/length)), int(round((zumyxy[1] - length/2.0)/length)))
            print zumy
            counter += 1

            # print "zumy: " + str(zumyxy)
            # withZumy = grid.copy().astype(float)
            # print "hello"
            # print zumyxy
            # print zumy
            # if zumy[0] < grid_size and zumy[1] < grid_size:
            #     print zumy
            #     withZumy[zumy[0], zumy[1]] = .5
            # withZumy[1,1] = .5
            # print withZumy

            # ffim = fimage.copy().T
            # redobjx = objx/3
            # redobjy = objy/3
            # for x in range(13):
            #     for y in range(13):
            #         ffim[redobjx[x,y],redobjy[x,y]] = 1
            #         ffim[redobjx[x,y]+1,redobjy[x,y]] = 1
            #         ffim[redobjx[x,y],redobjy[x,y]+1] = 1
            #         ffim[redobjx[x,y]+1,redobjy[x,y]+1] = 1
            # plt.imshow(ffim, interpolation='nearest', origin='lower')
            # plt.pause(.001)
            # plt.show(block=False)


            gzum = grid.astype(float)
            gzum[zumy] = .5
            plt.imshow(gzum, interpolation='nearest', origin='lower')
            plt.pause(.001)
            plt.show(block=False)
            pub.publish(gridZumy(pixelxy(zumy[0], zumy[1]),
            filteredImage(grid.astype(bool).flatten().tolist(), 
            grid_size, grid_size, -1.0)))
        r.sleep()
    rospy.signal_shutdown("should be dead")
    #     sys.exit()
#==============================================================================
#     ar_tags = {}
#     ar_tags['ar0'] = 'ar_marker_' + sys.argv[1]
#     ar_tags['ar1'] = 'ar_marker_' + sys.argv[2]
#     ar_tags['arZ'] = 'ar_marker_' + sys.argv[3]
#==============================================================================
    # currentPos = sys.argv[1]
    # objs_des = sys.argv[2]
    zumyname = sys.argv[1]
    # listener = tf.TransformListener()
    pub = rospy.Publisher('/'+zumyname+'/object_to_find', pixelxy, queue_size = 10)
    subs_done = rospy.Subscriber('/'+zumyname+'/complete', doneWith, callback_subs_done)
    # subs_state = rospy.Subscriber('/at_pos',int,callback_reached)
    # subs_current_pos = rospy.Subscriber('/'+zumyname+'/state_estimate', Transform, callback_state)
    subs_blob = rospy.Subscriber('/'+zumyname+'/model', model, callback_blob_xy)
    # subs_blob_y = rospy.Subscriber('/'+zumyname+'/model', model, callback_bloby)
    rate = rospy.Rate(1.0)
    while not rospy.is_shutdown():
        objs_des = the_chosen_one
        # combiner(blobs_x,blobs_y)
        try:
            # print "objdes" + str(objs_des[0])
            pub.publish(pixelxy(objs_des[0,0], objs_des[0,1]))
            # print 'objs_des'
            # print objs_des
            # controller(currentPos,objs_des)
        except Exception as e:
            # print 'Insufficient Data: controller, ' + str(e)
            
            pass