def reached_goal(odometry_data):
    """
    Return true or false depending if we're in the target
    position, defined at (x,y) = (7,7)
    """
    target_x = 7
    target_y = 7
    tolerance = 1

    robot_x = odometry_data.pose.pose.position.x
    robot_y = odometry_data.pose.pose.position.y

    if (abs(robot_x - target_x) < tolerance) and (abs(robot_y - target_y) < tolerance):
        return True
    return False