Untitled

#!/usr/bin/env python
# encoding: utf8
import rospy
import turtlesim
from turtlesim.msg import Pose
from turtlesim.srv  import SetPenRequest
from TurtlesimSIU import TurtlesimSIU
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Image
import math
import signal
import sys
import numpy as np

VISUALIZE = True

def signal_handler(sig, frame):
    print ("Terminating")
    sys.exit(0)

if __name__ == "__main__":
    # Initialize ROS node
    signal.signal(signal.SIGINT, signal_handler)
    rospy.init_node('siu_example', anonymous=False)
    turtle_api = TurtlesimSIU.TurtlesimSIU()
    rate = rospy.Rate(10)
    set_pen_req = turtlesim.srv.SetPenRequest(r=255, g=255, b=255, width=5, off=0)
    #set_pen_req = turtlesim.srv.SetPenRequest(r=255, g=255, b=255, width=5, off=1)
    if turtle_api.hasTurtle('turtle1'):
        turtle_api.killTurtle('turtle1')
        # rospy.sleep(2)
    if not turtle_api.hasTurtle('turtle1'):
        turtle_api.spawnTurtle('turtle1',turtlesim.msg.Pose(x=10,y=5,theta=90))
    color_api = TurtlesimSIU.ColorSensor('turtle1')