a

robomaster_pi/pup_position.py

 import rclpy
 from rclpy.node import Node
-from geometry_msgs.msg import PoseStamped, Pose
+from geometry_msgs.msg import PoseStamped, Point, Quaternion
 from tf2_ros import TransformListener, Buffer
 from rclpy.time import Time
 
@@ -18,7 +18,9 @@ class RobotPosePublisher(Node):
             transform = self.tf_buffer_.lookup_transform('map', 'base_link', Time())
             pose_stamped = PoseStamped()
             pose_stamped.header = transform.header
-            pose_stamped.pose.position = transform.transform.translation
+            pose_stamped.pose.position = Point(x=transform.transform.translation.x,
+                                               y=transform.transform.translation.y,
+                                               z=transform.transform.translation.z)
             pose_stamped.pose.orientation = transform.transform.rotation
             self.publisher_.publish(pose_stamped)
         except Exception as e: