ur10 end-effector tf

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Hi,

I am using ur10 ros driver to get the position of a mounted drilling pin on the end-effector of the robot. I want to do a transformation between the end-effector (tool0_controller) and the drilling pin frames. I measured the distance and orientation between them and tried to do a static transformation as the following but can't see any changes when I echo the /tf topic

  <node pkg="tf" type="static_transform_publisher" name="tool0_controller" args=" 
   0.5 0 2  
   0.707  0.707 0 0 
    /base_link/base /base_link/base/tool0_controller 500"/>

Any clue?

Edit: Simply the question is that I am trying to control a drilling pin that is mounted on the end-effctor of the ur10 robot (tool0_controller frame). I tried the static transformation above but it wasn't working

I tried to add a new frame to tool0_controller and this is the code I am using but the problem here is that: the pose published by drillingPin frame is relative to the tool0_controller not to the base.

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

  int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_broadcaster");
  ros::NodeHandle node;
  tf::TransformBroadcaster br;
  tf::Transform transform;

  ros::Rate rate(10.0);
  while (node.ok()){
    transform.setOrigin( tf::Vector3(0.0, 2.0, 0.0) );
    transform.setRotation( tf::Quaternion(0, 0, 0,1) );
    br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "tool0_controller", "drillingPin"));
    rate.sleep();
  }
  return 0;
  };

I am pretty sure this is a common application to universal robots but can't find useful tutorials. Your help is highly appreciated!