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()