# Publishing tf with kinect and watch it in rviz

Hiiiii

I am trying to do a tf with kinect, but I can not visualize it with rviz.

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>

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

ros::Rate r(100);

while(n.ok())
{

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