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Publisher publisher
Broadcaser broadcaster
void callbackFxn(message){ //performed every time a message arrives on the topic
new_message = process_msg(message)
new_tf = process_tf(message)
process_message(message){ //makes a new message from your old message
process_tf(message){ //makes a new tf from your old message
int main(){
publisher = Publisher() //sets up your publisher
broadcaster = Broadcaster() //sets up your broadcaster
subscriber = Subscriber("topic", callbackFxn) //performs callbackFxn whenever message comes in on "topic"
ros::spin(); //blocks until ros shuts down
return 0;
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