#!/usr/bin/env python

import rospy
import tf2_ros
import geometry_msgs.msg

def callback(data):
    tf2Broadcast = tf2_ros.TransformBroadcaster()
    tf2Stamp = geometry_msgs.msg.TransformStamped()
    tf2Stamp.header.stamp = rospy.Time.now()
    tf2Stamp.header.frame_id = 'base_link'
    tf2Stamp.child_frame_id = 'base_laser'
    tf2Stamp.transform.translation = (0.1, 0.0, 0.2)
    tf2Stamp.transform.translation = (0, 0, 0)
    tf2Broadcast.sendTransform(tf2Stamp)


if __name__ == "__main__":
    rospy.init_node("talker")
    rospy.Subscriber('/robit_state_publisher', 'tf', callback)
    rospy.spin()
