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You should look at the tf_conversions package, specifically the tf::TransformEigenToTF function.

You would have to make an Eigen::Affine3d from your Eigen::Matrix4f. See the Eigen Geometry Module Tutorial (and linked docs for each class) for information on how to go about that. I expect it involves a conversion from Matrix4f to Matrix4d and then passing that to the Affine3d constructor, but I don't know the exact function calls and syntax required off the top of my head.