Add node to use tf2

nodes/transform_stamped_to_tf2.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+
+import rospy
+import tf2_ros
+from geometry_msgs.msg import TransformStamped
+
+
+class TransformBroadcaster(object):
+    '''This is hack to avoid tf2_ros on python3
+    '''
+    def __init__(self):
+        self._sub = rospy.Subscriber('transforms', TransformStamped,
+                                     self.broadcast_tf)
+        self._br = tf2_ros.TransformBroadcaster()
+
+    def broadcast_tf(self, transform_msg):
+        self._br.sendTransform(transform_msg)
+
+if __name__ == '__main__':
+    rospy.init_node('transform_stamped_to_tf2')
+    br = TransformBroadcaster()
+    rospy.spin()