#!/usr/bin/env python
# license removed for brevity
import rospy
from nav_msgs.msg import Odometry
from std_msgs.msg import String, Header
from geometry_msgs.msg import Twist, Point, PoseStamped, Pose

goal = Point()

def newOdom(msg):

    goal.x = round(msg.pose.pose.position.x + 0.1)
    goal.y = round(msg.pose.pose.position.y + 0.1)




def talker():
    pub = rospy.Publisher('/r2/move_base_simple/goal', PoseStamped, queue_size = 1)
    sub = rospy.Subscriber("/r1/odom", Odometry, newOdom)
    rospy.init_node('follow_r1')
    rate = rospy.Rate(3) # 10hz
    while not rospy.is_shutdown():
    odom = PoseStamped()
    odom.header.frame_id = "/map"
    odom.pose.position.x = goal.x
    odom.pose.position.y = goal.y
    odom.pose.orientation.w = 1.0
    pub.publish(odom)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass