text: #!/usr/bin/env python
  import rospy
  from math import *
  from measurement_system.msg import measurement_msg
  from communication.msg import target_positions_msg
  from strategy.msg import strategy_output_msg
  from control_options import *
  
  
  def callback(data):
      msg = strategy_output_msg()
  
      msg.control_options = [control_options.pose,
                             control_options.pose, control_options.pose]
  
      msg.x[0] = -0.5
      msg.y[0] = 0.5
      msg.th[0] = pi / 2
  
      msg.x[1] = 0
      msg.y[1] = 0.5
      msg.th[1] = pi
  
      msg.x[2] = 0.5
      msg.y[2] = 0.5
      msg.th[2] = pi * (3. / 2)
  
      pub.publish(msg)
  
  
  def start():
      global pub
      pub = rospy.Publisher('strategy_output_topic',
                            strategy_output_msg, queue_size=10)
      rospy.init_node('strategy')
      rospy.Subscriber('measurement_system_topic', measurement_msg, callback)
      rospy.spin()
  
  
  if __name__ == '__main__':
      start()
  