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Hey,

Follow this link http://www.ros.org/wiki/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29 or go through tf_echo source code, copy it in a new file and then use it. To store it u can data type "pose" or "stamped pose" or there are some data types specifically for transforms.

Hope it helps..

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