#!/usr/bin/env python
import roslib; roslib.load_manifest('ckbotros')
import rospy
from std_msgs.msg import String
from logical import Cluster
def controller()
    c = Cluster()
    c.populate()
    pub = rospy.Publisher('posreport', int)
    rospy.init_node('talker')
    while not rospy.is_shutdown():