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Set up a tf::TransformListener (http://docs.ros.org/indigo/api/tf/html/c++/classtf_1_1TransformListener.html ) from the tf package ( http://wiki.ros.org/tf ) or tf2::BufferCore ( http://docs.ros.org/indigo/api/tf2/html/classtf2_1_1BufferCore.html ) from the tf2 package ( http://wiki.ros.org/tf2 ) -- depending on which tf version you use / your ROS distro supports and use the function lookupTransform ( http://docs.ros.org/indigo/api/tf/html/c++/classtf_1_1Transformer.html#a14536fe915c0c702534409c15714aa2f or http://docs.ros.org/indigo/api/tf2/html/classtf2_1_1BufferCore.html#a362de8ea45b99efde65bcc602053ad38 ) .................