Help to build a pan and tilt with kinect in the last position

edit

Hiiiii

I am trying to do pan and tilt with kinect in the top.

I have done a tf_broadcaster similar that the ros tutorials, but I don't know the way to link the last son of the tf tree to the kinect, this is the code of the last son:

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "robot_tf_publisher_vertical_kinect");
  ros::NodeHandle n;

  ros::Rate r(100);

  tf::TransformBroadcaster broadcaster;
  while(n.ok())
  {

    broadcaster.sendTransform(
      tf::StampedTransform(
        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.4, 0, 1.25)),

                    ros::Time::now(),"vertical", "camera_link"));

    r.sleep();
  }
}

And this is the tf view_frames:

I want run rviz and see points cloud from kinect in the las position of the tf. Can somebody help me please?

Thanks