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These are not standard conditions that have tools available for them.

My first approach to solving this would be to do the following:

• Determine the spanning set of frames that you're interested in
• Subscribe to the tf topics and look for new information on frames in you spanning set
• If there are new frames of interest query a TransformListener for the resultant transform.
• Keep the last result and publish the result if it's more than some tolerance threshold.

In you second case you could set the tolerance to zero so that it always publishes if there's a new frame information even if it's the same.