     t.transform.translation.y = 0.0;
     t.transform.translation.z = 1.0;
 
-    t.transform.rotation = createQuaternionFromRPY(0.0, 0.0, tempNumber);
+    t.transform.rotation = createQuaternionFromRPY(0.0, 0.0, DegreeToRadian(servoPos));
     /*
     t.transform.rotation.x = 0.0;
     t.transform.rotation.y = 0.0;

    broadcaster.sendTransform(t);


    rangeMessage.radiation_type = sensor_msgs::Range::ULTRASOUND;
    rangeMessage.field_of_view = 0.1;
    rangeMessage.min_range = 0.0;
    rangeMessage.max_range = 200/100; // cm to meter
    rangeMessage.header.frame_id = servo_node_1;
    rangeMessage.range = 195/100;
    rangeMessage.header.stamp = nh.now();
    rangePublisher1.publish(&rangeMessage);


    rangeMessage.radiation_type = sensor_msgs::Range::ULTRASOUND;
    rangeMessage.field_of_view = 0.1;
    rangeMessage.min_range = 0.0;
    rangeMessage.max_range = 200/100; // cm to meter
    rangeMessage.header.frame_id = servo_node_2;
    rangeMessage.range = 195/100;
    rangeMessage.header.stamp = nh.now();
    rangePublisher2.publish(&rangeMessage);


      /// radian = (degree * 71) / 4068.0
      /// degree = (radians * 4068) / 71.0



    nh.spinOnce();
    delay(1);
}


    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();

