diff --git a/lsd_slam/CMakeLists.txt b/lsd_slam/CMakeLists.txt
index 3dc1ef3..611c5f8 100644
--- a/lsd_slam/CMakeLists.txt
+++ b/lsd_slam/CMakeLists.txt
@@ -1,2 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
 project(lsd_slam)
+find_package(catkin REQUIRED)
 catkin_package()
diff --git a/lsd_slam_core/CMakeLists.txt b/lsd_slam_core/CMakeLists.txt
index 53b7938..6ede1f1 100644
--- a/lsd_slam_core/CMakeLists.txt
+++ b/lsd_slam_core/CMakeLists.txt
@@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(lsd_slam_core)
 # Load catkin and all dependencies required for this package
 # TODO: remove all from COMPONENTS that are not catkin packages.
-find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure sensor_msgs roslib rosbag lsd_slam_viewer roscpp)
+find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure sensor_msgs roslib rosbag lsd_slam_viewer roscpp tf)
 
 # include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
 # CATKIN_MIGRATION: removed during catkin migration
diff --git a/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp b/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp
index 78faa88..39e49c1 100644
--- a/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp
+++ b/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp
@@ -23,7 +23,6 @@
 #include <ros/ros.h>
 #include "util/settings.h"
 
-
 #include "std_msgs/Float32MultiArray.h"
 #include "lsd_slam_viewer/keyframeGraphMsg.h"
 #include "lsd_slam_viewer/keyframeMsg.h"
@@ -34,6 +33,9 @@
 #include "geometry_msgs/PoseStamped.h"
 #include "GlobalMapping/g2oTypeSim3Sophus.h"
 
+#include <geometry_msgs/TransformStamped.h>
+#include <tf/transform_broadcaster.h>
+
 namespace lsd_slam
 {
 
@@ -157,6 +159,23 @@ void ROSOutput3DWrapper::publishTrackedFrame(Frame* kf)
 	pMsg.header.stamp = ros::Time(kf->timestamp());
 	pMsg.header.frame_id = "world";
 	pose_publisher.publish(pMsg);
+
+	// also publish poses to /tf
+	geometry_msgs::TransformStamped tf_msg;
+
+	tf_msg.header.stamp = ros::Time(kf->timestamp());
+	tf_msg.header.frame_id = "world";
+	tf_msg.child_frame_id = "/camera";
+
+	tf_msg.transform.translation.x = camToWorld.translation()[0];
+	tf_msg.transform.translation.y = camToWorld.translation()[1];
+	tf_msg.transform.translation.z = camToWorld.translation()[2];
+	tf_msg.transform.rotation.x = camToWorld.so3().unit_quaternion().x();
+	tf_msg.transform.rotation.y = camToWorld.so3().unit_quaternion().y();
+	tf_msg.transform.rotation.z = camToWorld.so3().unit_quaternion().z();
+	tf_msg.transform.rotation.w = camToWorld.so3().unit_quaternion().w();
+
+	tf_publisher_.sendTransform(tf_msg);
 }
 
 
diff --git a/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.h b/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.h
index 9c5cab8..b7e40f0 100644
--- a/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.h
+++ b/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.h
@@ -22,6 +22,7 @@
 
 #include <ros/ros.h>
 #include "IOWrapper/Output3DWrapper.h"
+#include <tf/transform_broadcaster.h>
 
 
 namespace lsd_slam
@@ -95,10 +96,11 @@ class ROSOutput3DWrapper : public Output3DWrapper
 	std::string debugInfo_channel;
 	ros::Publisher debugInfo_publisher;
 
-
 	std::string pose_channel;
 	ros::Publisher pose_publisher;
 
+	tf::TransformBroadcaster tf_publisher_;
+
 	ros::NodeHandle nh_;
 };
 }