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It looks like it now takes a TransformStamped() message, rather than individual args. The docs & tutorials seem to be older than the hydro code. For example:

transform = TransformStamped(header=Header(stamp=rospy.Time.now(), frame_id="parent"),
                             transform=Transform(translation=Vector3(x,y,z),
                                                 rotation=Quaternion(qx,qy,qz,qw)),
                             child_frame_id="child"
                            )
self.tfbx.sendTransform(transform)

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