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To setup transform between frames you have to broadcast (publish) transform instead of listening to it.

There are two ways to do that:

1. Use static_transform_publisher -- this one is a ready to use node, that you can run from command line.
2. Use tf::TransformBroadcaster -- to create transforms in a code.

To setup transform between frames you have to broadcast (publish) transform instead of listening to it.

There are two ways to do that:

1. Use static_transform_publisher -- this one is a ready to use node, that you can run from command line.
2. Use tf::TransformBroadcaster -- to create transforms in a code.

To setup transform between frames you have to broadcast (publish) transform instead of listening to it.

There are two ways to do that:

1. Use static_transform_publisher -- this one is a ready to use node, that you can run from command line.
2. Use tf::TransformBroadcaster -- to create transforms in a code.

EDIT: If the transform is already exist you can simply listen to it once outside of publishing cycle.