# find transformation matrix between two frames in which there is first rotation by some euler angles and then translation

I want to find transformation matrix between two frames in which there is first rotation by some euler angles and then translation.

There is not a lot of information in your question about what you want the tf for or how you want to use it. If you just want to know a transformation between two frames that you already have then the easiest solution would be tf_echo. tf_echo

I also don't understand what you want. Do you already know the translation and rotation? If so, then you could use static_transform_publisher to publish the transformation into TF. Or if you just want the transformation, then create two matrices T and R and calculate A = T*R using C++ or NumPy.