# Revision history [back]

### How to republish tf as topic

I'd like to provide yaw-correction for my IMU algorithm running on an embedded platform using gmapping's /map -> /odom tf. For that I need yaw-angle as ROS topic, not a tf. I'd like to write a simple node to listen to tf's and republish the data as soon as it comes. I've read in some post the best way to do it would be subscribing to /tf-topic.

I'm assuming this is actually the best solution, so my main question is how to programatically subscribe to /tf' and only react to certain tf being published. Do you know a good existing example of such behaviour? I'm also open to other suggestions.

Cheers.

### How to republish tf as topic

I'd like to provide yaw-correction for my IMU algorithm running on an embedded platform using gmapping's /map -> /odom /base_link tf obtained via gmapping. For that I need yaw-angle as ROS topic, not a tf. I'd like to write a simple node to listen to tf's and republish the data as soon as it comes. I've read in some post the best way to do it would be subscribing to /tf-topic.

I'm assuming this is actually the best solution, so my main question is how to programatically subscribe to /tf' and only react to certain tf being published. Do you know a good existing example of such behaviour? I'm also open to other suggestions.

Cheers.