a

robomaster_pi/pup_position.py

@@ -3,7 +3,7 @@ from rclpy.node import Node
 from geometry_msgs.msg import PoseStamped
 from tf2_ros import TransformListener, Buffer
 from tf2_geometry_msgs import do_transform_pose
-from tf2_ros import TransformStamped
+from builtin_interfaces.msg import Time
 
 
 class RobotPosePublisher(Node):
@@ -16,7 +16,7 @@ class RobotPosePublisher(Node):
 
     def publish_robot_pose(self):
         try:
-            transform = self.tf_buffer_.lookup_transform('map', 'base_link', rclpy.Time())
+            transform = self.tf_buffer_.lookup_transform('map', 'base_link', Time())
             pose_stamped = PoseStamped()
             pose_stamped.header = transform.header
             pose_stamped.pose = transform.transform