     (send tmp-pose :position :x (read relative-pose-stream nil))     (send tmp-pose :position :y (read relative-pose-stream nil))     (send tmp-pose :position :z (read relative-pose-stream nil))     (send tmp-pose :orientation :x (read relative-pose-stream nil))     (send tmp-pose :orientation :y (read relative-pose-stream nil))     (send tmp-pose :orientation :z (read relative-pose-stream nil))     (send tmp-pose :orientation :w (read relative-pose-stream nil))     (setq inverse-trans (send (send (ros::tf-pose->coords tmp-pose) :inverse-transformation)                               :translate (float-vector (* (/ *object-height* 0.0) 0000) (* (/ *object-width* 0.0) 0000) 0)))     (dolist (obj mf-obj-lst)       (when (or (not (stringp tp))                 (substringp tp (send obj :type))) ;; found target         (let ((tmp-coords (send (ros::tf-pose->coords (send obj :pose)) :copy-worldcoords)))           (send tmp-coords :transform inverse-trans)           (send tmp-posestamped :pose (ros::coords->tf-pose tmp-coords))           (send tmp-posestamped :header (send object-name :header))           )))      (