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#!/usr/bin/env python
import rospy
from turtlesim.srv import *
from geometry_msgs.msg import PoseStamped
def callback(data):
teleport_turtle(data.pose.position.x/2+6,data.pose.position.y/2+6,0)
def turtle_follower():
rospy.wait_for_service('turtle1/teleport_absolute')
rospy.Subscriber("mavros/local_position/pose", PoseStamped, callback)
rospy.spin()
if __name__ == '__main__':
rospy.wait_for_service('turtle1/teleport_absolute')
try:
teleport_turtle = rospy.ServiceProxy('turtle1/teleport_absolute',TeleportAbsolute)
rospy.init_node('turtle_follower',anonymous=True)
except rospy.ServiceException as e:
print("Service call failed: %s"%e)
turtle_follower()