void track(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
  glob=*msg;
  if (glob.pose.position.x<19 && glob.pose.position.x>0 && glob.pose.position.y<19 && glob.pose.position.y>0 && glob.pose.position.z<2.5){
    isoutside=0;
  }
  else if(glob.pose.position.x>19 || glob.pose.position.x<0 || glob.pose.position.y>19 || glob.pose.position.y<0 || glob.pose.position.z>2.5)
  {
    isoutside=1;
  }