My research direction is 3D collision detection. Recently my advisor gave me
a task to combine our detection algorithm with ros.The first step I do like
this: from the bag file I get tf/tfMessage and sensor_msgs/PointCloud2
information of every frame, then I write a program to parse pr2.urdf to
build a obj model. 
http://ros-users.122217.n3.nabble.com/file/n941731/1.jpg 
then I put the tf information on the obj model. The picture bellow displays
nine frames together.
http://ros-users.122217.n3.nabble.com/file/n941731/2.jpg 
I don't confirm if I have understand the tf information correctly. Is there
any way to verify the correctness of my understanding?
Thank you.
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