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Oh, well that's your problem. You shouldn't be subscribing to the '/tf' topic directly. You should be using alistener and a buffer so that the library does all the math for you.

http://wiki.ros.org/tf2/Tutorials/Writing%20a%20tf2%20listener%20%28Python%29

Then use the 'transform' method from the BufferInterface http://docs.ros.org/melodic/api/tf2_ros/html/python/

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