Hi,

Perhaps the tf_monitor does what you'd like:

$ rosrun tf tf_monitor

-Stu

On Wed, Jun 16, 2010 at 4:42 PM, Hao Dang <dang@cs.columbia.edu> wrote:
> Hey all,
>
> I am wondering if there is a function in ROS that: given two frame
> id's, it returns the transform publisher, if there exists one, that
> publishes the transformation between these two frames.  Thank you!
>
> Hao
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-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com