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The TransformBroadcaster is a class which takes care of basic boilerplate conversions and a little bookkeeping. The source is here: https://github.com/ros/geometry_experimental/blob/indigo-devel/tf2_ros/include/tf2_ros/transform_broadcaster.h and https://github.com/ros/geometry_experimental/blob/indigo-devel/tf2_ros/src/transform_broadcaster.cpp

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