text: #!/usr/bin/env python
  
  import rospy
  from geometry_msgs.msg import PoseWithCovarianceStamped
  
  import yaml
  import time
  
  
  saved = False
  
  def callback(msg):
      print msg.pose.pose
      name = time.strftime('%Y-%m-%d_%H-%M-%S', time.localtime(rospy.Time.now().to_sec())) + ".yaml"
      f = open(name, "w")
      yaml.dump({"pose": msg.pose.pose}, f, default_flow_style=False)
      f.close()
      global saved
      saved = True
  
  if __name__ == '__main__':
      rospy.init_node('record_pose')
  
      directory = rospy.get_param("~dir")
      rospy.Subscriber(rospy.get_param("~topic","/amcl_pose"), PoseWithCovarianceStamped, callback)
  
      while not rospy.is_shutdown() and not saved:
          rospy.sleep(0.1)