new_contents: #!/usr/bin/python
  # -*- coding: utf-8 -*-
  import sys
  from os.path import dirname, abspath
  sys.path.append(dirname(dirname(dirname(dirname(abspath(__file__))))))
  reload(sys)
  sys.setdefaultencoding('utf-8')
  
  from EmeraldAI.Logic.ROS.Helper.TFLooper import TFLooper
  
  import rospy
  import tf2_ros as tf
  
  from geometry_msgs.msg import TransformStamped
  from tf2_msgs.msg import TFMessage
  
  nodeName = 'serial_tf_repeater'
  
  def callback(data):
      if data._connection_header['callerid'].strip("/") == nodeName:
          return
  
      for t in data.transforms:
          TFLooper().add(t)
  
  
  def listener():
      rateInHz = 20 # in Hz
      rospy.init_node(nodeName)
      rospy.Subscriber("tf", TFMessage, callback)
  
      rate = rospy.Rate(rateInHz) # hz
      while not rospy.is_shutdown():
          TFLooper().loop()
          rate.sleep()
  
  
  if __name__=="__main__":
      listener()
  
subject: add tf repeater for serial tf data