#!/usr/bin/env python
# poseTurtlesimWithRounding.py          round to 4 decimal places
import rospy

from turtlesim.msg import Pose

# self.pose_subscriber = rospy.Subscriber('/turtle1/pose', Pose, self.callback

class turtlesim():

    def __init__(self):
        #Creating our node,publisher and subscriber
        rospy.init_node('turtlebot_controller', anonymous=True)
# self.velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
        self.pose_subscriber = rospy.Subscriber('/turtle1/pose', Pose, self.callback)
        self.pose = Pose()
        self.rate = rospy.Rate(.1)
        rospy.spin()

# Continuous printing   of time x and y        
# self.rate.sleep()

# Callback function implementing the pose value received
    def callback(self, data):
        self.pose = data
        self.pose.x = round(self.pose.x, 4)
        self.pose.y = round(self.pose.y, 4)
        rospy.loginfo('self.pose.x: {}, self.pose.y: {}'.format(self.pose.x,self.pose.y)) 

#      rospy.spin()

if __name__ == '__main__':
    try:
        #Testing our function
        x = turtlesim()
 #       rospy.spin()   
    except rospy.ROSInterruptException: pass

# [INFO] [1506903472.485273]: self.pose.x: 5.5444, self.pose.y: 5.5444