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I'm not sure I'm entirely clear on your use case. I've commented on @Pablo Iñigo Blasco answer that you can easily implement the tf protocol. It's just publishing a tf/TFMessage on the /tf topic.

You can publish it yourself on a topic of your choice, and populate the message yourself using a standard ros::Publisher just as done inside the TransformBroadcaster does internally. See the source code, ~ 30 lines

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