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You'll need two transforms instead of one, one with the rotation and then a child one with the translation, and sendTransform them both.

You'll need two transforms instead of one, one the first with the rotation and then a child one with the translation, and sendTransform them both.

You'll need two transforms instead of one, the first with the rotation and then a child one with the translation, and sendTransform them both.

Instead of parent -> child frame you'll have parent -> intermediate rotated child -> child frame, but any tf lookup can ignore the intermediate frame by looking up from parent to child and they'll see the combined proper rotation-then-translation transform.

You'll need two transforms instead of one, the first with the rotation and then a child one with the translation, and sendTransform them both.

Instead of parent -> child frame you'll have parent -> intermediate rotated child -> child frame, but any tf lookup can ignore the intermediate frame by looking up from parent to child and they'll see the combined proper rotation-then-translation transform.

Or you could do some matrix math to transform the translation in the rotated frame into the parent frame.