 (target-obj &key (object-name *map-frame-objectdetection*))   (let ((mf-obj-lst (send object-name :objects))         (tmp-posestamped (instance geometry_msgs::PoseStamped :init))         (tmp-posewithcovariancestamped (instance geometry_msgs::PoseWithCovarianceStamped :init))         (relative-pose-stream (make-string-input-stream *relative-pose-str*))         (tmp-pose (instance geometry_msgs::Pose :init))         (t