#!/usr/bin/env python

import rospy

import math

from tf import transformations

from geometry_msgs.msg import PoseWithCovarianceStamped

class PoseSetter(rospy.SubscribeListener):

    def __init__(self, pose):

        self.pose = pose

    def peer_subscribe(self, topic_name, topic_publish, peer_publish):

        p = PoseWithCovarianceStamped()

        p.header.frame_id = "map"

        p.pose.pose.position.x = self.pose[]

        p.pose.pose.position.y = self.pose[]

        (p.pose.pose.orientation.x,

        p.pose.pose.orientation.y,

        p.pose.pose.orientation.z,

        p.pose.pose.orientation.w) = transformations.quaternion_from_euler(, , self.pose[])

        p.pose.covariance[*+] = 0.5 * 0.5

        p.pose.covariance[*+] = 0.5 * 0.5

        p.pose.covariance[*+] = math.pi/12.0 * math.pi/12.0

        peer_publish(p)

x=True

pose = [-9.983256,-2.641909,-1.201580]#x,y,a

rospy.init_node(‘pose_setter‘, anonymous=True)

pub=rospy.Publisher("initialpose", PoseWithCovarianceStamped, queue_size=)

pub.publish(PoseSetter(pose))