<launch>  
    <node pkg="tf2_ros" name="son1" type="static_transform_publisher" args="1 2 3 10 30 20 /world /son1" output="screen"/>  
    <node pkg="tf2_ros" name="son2" type="static_transform_publisher" args="-1 -5 2 40 10 50 /world /son2" output="screen"/>  
    <node pkg="tf2_ros" name="son3" type="static_transform_publisher" args="-1 -5 2 40 10 50 /son1 /son3" output="screen"/>  
</launch> 

#include "ros/ros.h"  
#include "tf2_ros/static_transform_broadcaster.h"  
#include "tf2/LinearMath/Quaternion.h"  
#include "geometry_msgs/TransformStamped.h"  
  
int main(int argc,char* argv[])  
{  
    setlocale(LC_ALL,"");  
    // initial the node  
    ros::init(argc,argv,"static_pub");  
    // create publisher  
    tf2_ros::StaticTransformBroadcaster pub;  
    // organize the data  
    geometry_msgs::TransformStamped data;  
    data.header.frame_id = "base_link";  
    data.header.stamp = ros::Time::now();  
    data.child_frame_id = "laser";  
    // set translation  
    data.transform.translation.x = 0.1;  
    data.transform.translation.y = 0.5;  
    data.transform.translation.z = 0.3;  
    // set rotation  
    tf2::Quaternion qtn;  
    qtn.setRPY(30,10,5);  
    data.transform.rotation.w = qtn.getW();  
    data.transform.rotation.x = qtn.getX();  
    data.transform.rotation.y = qtn.getY();  
    data.transform.rotation.z = qtn.getZ();  
    // publish data  
    ros::Rate rate(1);  
    while(ros::ok()){  
        pub.sendTransform(data);  
        rate.sleep();  
    }  
    return 0;  
}  

#include "ros/ros.h"  
#include "tf2_ros/buffer.h"  
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"  
#include "tf2_ros/transform_listener.h"  
#include "geometry_msgs/TransformStamped.h"  
#include "geometry_msgs/PointStamped.h"  
  
int main(int argc,char* argv[])  
{  
    setlocale(LC_ALL,"");  
    ros::init(argc,argv,"another_static_sub");  
    tf2_ros::Buffer buffer;  
    tf2_ros::TransformListener listener(buffer);  
  
    ros::Rate rate(1);  
    while(ros::ok()){  
        try  
        {  
            // 对buffer中坐标系两两之间的关系全部计算出来存入buffer和变量Son12Son2中  
            geometry_msgs::TransformStamped Son12Son2 = buffer.lookupTransform("son2","son1",ros::Time(0));  
            geometry_msgs::PointStamped PointInSon1;  
            PointInSon1.header.frame_id = "son3";  
            PointInSon1.header.stamp = ros::Time(); // ros::Time(0)或者ros::Time()均可  
            PointInSon1.point.x = 1;  
            PointInSon1.point.y = 2;  
            PointInSon1.point.z = 3;  
            // 调用buffer中坐标系son2和坐标系son1之间的转换关系计算坐标点基于son2坐标系的坐标  
            geometry_msgs::PointStamped PointInSon2 = buffer.transform(PointInSon1,"son2");  
            ROS_INFO("PointInSon2:%f,%f,%f",PointInSon2.point.x,PointInSon2.point.y,PointInSon2.point.z);  
        }  
        catch(const std::exception& e)  
        {  
            std::cerr << e.what() << '\n';  
        }  
        rate.sleep();  
    }  
    return 0;  
}