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The error isn't saying that it can't get the transform. If you read it, it clearly says that TypeError: 'TransformStamped' object is not iterable. Change the lookup line to:
transformObject = tfBuffer.lookup_transform('odom', 'base_footprint', rospy.Time.now(), rospy.Duration(3.0))
Then, to get the translation and rotation, set:
trans = transformObject.transform.translation
rot = transformObject.transform.rotation
It was easy to see this was the case if you read the error type.
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