How to get a robot position (x,y) in a map instead of Odometry in python?

edit

I'd like to record robot position (x,y) in a map instead of Odometry in python because my Odometry is not accurate, I asked yesterday about this issue here. So, I need to record them from the map.

when I am using this command in a terminal, I see a good accuracy

rosrun tf tf_echo /map /base_link

how to get information of this command in python

my code when I use the Odometry:

#!/usr/bin/env python
import rospy
from nav_msgs.msg import Odometry


class OdometryModifier:

  def __init__(self):
    self.sub = rospy.Subscriber("odom", Odometry, self.callback)
  def callback(self, data):
    x = data.pose.pose.position.x
    y = data.pose.pose.position.y
    with open("target.csv", "a") as text_file:
        text_file.write("\n%.3f" % (x))
        text_file.write("\t%.3f" % (y))

if __name__ == '__main__':
    rospy.init_node('move_turtlebot', anonymous=True)
    try:
        odom = OdometryModifier()
        rospy.spin()
    except KeyboardInterrupt:
        rospy.loginfo('Shutting down')

how to get only information print position, quaternion

Update1

I updated my question after @billy's answer

the issue not in using google, tf isn't familiar with me.

import rospy
from tf import TransformListener
from geometry_msgs.msg import PointStamped
# from nav_msgs.msg import OccupancyGrid

class myNode:

    def __init__(self):
        self.tf = TransformListener()
        self.sub = rospy.Subscriber("/tf", PointStamped, self.some_method)
        # rospy.Subscriber("/map", TransformStamped, )
        # ...

    def some_method(self, point_stamped):
        print point_stamped

        if self.tf.frameExists("/base_link") and self.tf.frameExists("/map"):
            t = self.tf.getLatestCommonTime("/base_link", "/map")
            position, quaternion = self.tf.lookupTransform("/base_link", "/map", t)
            print position, quaternion
if __name__ == '__main__':
    rospy.init_node('move_turtlebot', anonymous=True)
    try:
        odom = myNode()
        rospy.spin()
    except KeyboardInterrupt:
        rospy.loginfo('Shutting down')

the output print point_stamped

.....
....
....

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1578296497
        nsecs: 454806328
      frame_id: "odom"
    child_frame_id: "base_link"
    transform: 
      translation: 
        x: -0.000629110541654
        y: 7.50070441544e-06
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0161632095368
        w: 0.999869366796
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1578296498
        nsecs: 123375996
      frame_id: "map"
    child_frame_id: "odom"
    transform: 
      translation: 
        x: -0.0020397693567
        y: 0.00738271227423
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: -0.0116367688543
        w: 0.999932290513transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1578296497
        nsecs: 971281007
      frame_id: "/camera_link"
    child_frame_id: "/camera_depth_frame"
    transform: 
      translation: 
        x: 0.0
        y: -0.02
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
      ......
       ....

Update2

The output print self.tf.allFramesAsString()

I see Frame odom exists with parent map.

Frame RIA_TOP_FRAME exists with parent RIA_BASE.
Frame RIA_BASE exists with parent base_link.
Frame base_link exists with parent odom.
Frame camera_link exists with parent base_link.
Frame imu_link exists with parent base_link.
Frame laser_link exists with parent base_link.
Frame camera_depth_frame exists with parent camera_link.
Frame camera_depth_optical_frame exists with parent camera_depth_frame.
Frame camera_rgb_frame exists with parent camera_link.
Frame camera_rgb_optical_frame exists with parent camera_rgb_frame.
Frame rear_left_wheel exists with parent base_link.
Frame rear_right_wheel exists with parent base_link.
Frame map_ned exists with parent map.
Frame odom_ned exists with parent odom.
Frame odom exists with parent map.
Frame base_link_frd exists with parent base_link.
Frame front_left_wheel exists with parent base_link.
Frame front_right_wheel ...