if match_lq is not None:
lq = float(match_lq.group(1)) / float(match_lq.group(2))
pos = tfBuffer.lookup_transform("map", 'base_link', rospy.Time(0), rospy.Duration(1.0))
if match_lq is not None:
lq = float(match_lq.group(1)) / float(match_lq.group(2))
pos = tfBuffer.lookup_transform("map", 'base_link', rospy.Time(0), rospy.Duration(1.0))