a

robomaster_pi/pup_position.py

 import rclpy
 from rclpy.node import Node
-from geometry_msgs.msg import PoseStamped
+from geometry_msgs.msg import PoseStamped, Pose
 from tf2_ros import TransformListener, Buffer
 from tf2_geometry_msgs import do_transform_pose
 from builtin_interfaces.msg import Time
@@ -19,7 +19,7 @@ class RobotPosePublisher(Node):
             transform = self.tf_buffer_.lookup_transform('map', 'base_link', Time())
             pose_stamped = PoseStamped()
             pose_stamped.header = transform.header
-            pose_stamped.pose = transform.transform
+            pose_stamped.pose = transform.transform.translation
             self.publisher_.publish(pose_stamped)
         except Exception as e:
             self.get_logger().error('Failed to lookup transform: %s' % str(e))