@@ -0,0 +1,606 @@
+#!/usr/bin/env python%0A%0Aimport rospy%0Aimport tf2_ros%0Afrom geometry_msgs.msg import TransformStamped%0A%0A%0Aclass TransformBroadcaster(object):%0A    '''This is hack to avoid tf2_ros on python3%0A    '''%0A    def __init__(self):%0A        self._sub = rospy.Subscriber('transforms', TransformStamped,%0A                                     self.broadcast_tf)%0A        self._br = tf2_ros.TransformBroadcaster()%0A%0A    def broadcast_tf(self, transform_msg):%0A        self._br.sendTransform(transform_msg)%0A%0Aif __name__ == '__main__':%0A    rospy.init_node('transform_stamped_to_tf2')%0A    br = TransformBroadcaster()%0A    rospy.spin()%0A

Add node to use tf2