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To answer your last question, have you gone through the tf tutorials? www.ros.org/wiki/tf/Tutorials

Also, this related question might be helpful: answers.ros.org/question/9094/has-anyone-used-any-haptic-devices-in-conjunction-with-ros/

To answer your last question, have you gone through the tf ~~tutorials?~~ tutorials?

www.ros.org/wiki/tf/Tutorials

Also, this related question might be ~~helpful:~~ helpful:

answers.ros.org/question/9094/has-anyone-used-any-haptic-devices-in-conjunction-with-ros/

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