 
     broadcaster.sendTransform(t);
 
+
     t.header.frame_id = base_link;
     t.child_frame_id = servo_node_1;
     t.transform.translation.x = 0.0;
     t.transform.translation.y = 0.05;
     t.transform.translation.z = 0.0;
+
+    /// radian = (degree * 71) / 4068.0
+    /// degree = (radians * 4068) / 71.0
+
     t.transform.rotation = createQuaternionFromRPY(0.0, 0.0, ((90 * 71) / 4068.0));
     t.header.stamp = nh.now();
 

    t.transform.translation.y = 0.0;
    t.transform.translation.z = 1.0;

    t.transform.rotation = createQuaternionFromRPY(0.0, 0.0, tempNumber);
    /*
    t.transform.rotation.x = 0.0;
    t.transform.rotation.y = 0.0;

    broadcaster.sendTransform(t);




    nh.spinOnce();
}
