主要細節參見wiki，這裡我寫一下它的broadcaster和listener做個記錄：

tf_broadcaster.cpp:

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

int main(int argc, char** argv){
	ros::init(argc, argv, "robot_tf_publisher");
	ros::NodeHandle node;
	
	ros::Rate rate(100);

	tf::TransformBroadcaster broadcaster;
	while(node.ok()){
		broadcaster.sendTransform(
			tf::StampedTransform(
				tf::Transform(
					tf::Quaternion(0,0,0,1),
					tf::Vector3(0.1,0.0,0.2)
				),
				ros::Time::now(),
				"base_link",
				"base_laser"
			)
		);
		rate.sleep();
	}
}
 

tf_listener.cpp:

#include<ros/ros.h>
#include<tf/transform_listener.h>
#include<geometry_msgs/PointStamped.h>

void transformPoint(const tf::TransformListener& listener){
        //這裡先隨意設定一個點，當做是laser座標的點，然後我們將其轉換成base_link座標上的位置
        geometry_msgs::PointStamped laser_point;
	laser_point.header.frame_id = "base_laser";
	
	laser_point.header.stamp = ros::Time();
	laser_point.point.x = 1.0;
	laser_point.point.y = 0.2;
	laser_point.point.z = 0.0;

	try{
                //建立一個點，用來存放當前base_laser的點在base_link座標系中的位置
                geometry_msgs::PointStamped base_point;
                //下面這句話，它會自動為我們進行相應的轉換，並將結果放入base_point，由於laser_point的frame_id為base_laser，這裡我們先寫將轉換到的座標系base_link.                
                listener.transformPoint("base_link", laser_point, base_point);
		ROS_INFO("base_laser: (%.2f, %.2f. %.2f) -----> base_link: (%.2f, %.2f, %.2f) at time %.2f",
		     laser_point.point.x, laser_point.point.y, laser_point.point.z,
		     base_point.point.x, base_point.point.y, base_point.point.z, base_point.header.stamp.toSec());
	}catch(tf::TransformException& ex){
		ROS_ERROR("Received an exception trying to transform a point from \"base_laser\" to \"base_link\": %s", ex.what());
	}
}



int main(int argc, char** argv){
	ros::init(argc, argv, "robot_tf_listener");
	ros::NodeHandle node;

	tf::TransformListener listener(ros::Duration(10));
	//定時每隔1秒查詢進行一次：
	ros::Timer timer = node.createTimer( ros::Duration(1.0), boost::bind( &transformPoint, boost::ref(listener) ) );
	ros::spin();
}
 

add_executable(tf_broadcaster src/tf_broadcaster.cpp)
add_executable(tf_listener src/tf_listener.cpp)
target_link_libraries(tf_broadcaster ${catkin_LIBRARIES})
target_link_libraries(tf_listener ${catkin_LIBRARIES})

[ INFO] [1472897890.623220105]: base_laser: (1.00, 0.20. 0.00) -----> base_link: (1.10, 0.20, 0.20) at time 1472897890.61
[ INFO] [1472897891.623229008]: base_laser: (1.00, 0.20. 0.00) -----> base_link: (1.10, 0.20, 0.20) at time 1472897891.61
[ INFO] [1472897892.624179159]: base_laser: (1.00, 0.20. 0.00) -----> base_link: (1.10, 0.20, 0.20) at time 1472897892.61
[ INFO] [1472897893.622589774]: base_laser: (1.00, 0.20. 0.00) -----> base_link: (1.10, 0.20, 0.20) at time 1472897893.61
[ INFO] [1472897894.624529454]: base_laser: (1.00, 0.20. 0.00) -----> base_link: (1.10, 0.20, 0.20) at time 1472897894.61