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91f52f8a0a
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be16913507
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#!/usr/bin/env python
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import rospy
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from turtlesim.srv import *
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from geometry_msgs.msg import PoseStamped
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def callback(data):
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teleport_turtle(data.pose.position.x/2+6,data.pose.position.y/2+6,0)
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def turtle_follower():
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rospy.wait_for_service('turtle1/teleport_absolute')
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rospy.Subscriber("mavros/local_position/pose", PoseStamped, callback)
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rospy.spin()
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if __name__ == '__main__':
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rospy.wait_for_service('turtle1/teleport_absolute')
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try:
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teleport_turtle = rospy.ServiceProxy('turtle1/teleport_absolute',TeleportAbsolute)
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rospy.init_node('turtle_follower',anonymous=True)
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except rospy.ServiceException as e:
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print("Service call failed: %s"%e)
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turtle_follower()
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