Add a script to publish JointState to TF

scripts/robot_pose_publisher

+#!/usr/bin/env python
+#
+# Listens to TransformStamped messages and publish them to tf
+#
+
+import roslib
+roslib.load_manifest('dynamic_graph_bridge')
+import rospy
+
+import tf
+#import geometry_msgs.msg
+import sensor_msgs.msg
+
+frame = ''
+childFrame = ''
+
+def pose_broadcaster(msg):
+    translation = msg.position[0:3];
+    rotation = tf.transformations.quaternion_from_euler(msg.position[3], msg.position[4], msg.position[5])
+    tfbr = tf.TransformBroadcaster()
+    tfbr.sendTransform(translation, rotation,
+                       rospy.Time.now(), childFrame, frame)
+
+if __name__ == '__main__':
+    rospy.init_node('robot_pose_publisher', anonymous=True)
+
+    frame = rospy.get_param('~frame', 'odom')
+    childFrame = rospy.get_param('~child_frame', 'base_link')
+    topic = rospy.get_param('~topic', 'joint_states')
+    
+    rospy.Subscriber(topic, sensor_msgs.msg.JointState, pose_broadcaster)
+    rospy.spin()