multiple_broadcaster_ex2_1.py

#! /usr/bin/env python
import rospy
import time
import tf
from turtle_tf_3d.get_model_gazebo_pose import GazeboModel


def handle_turtle_pose(pose_msg, robot_name):
    br = tf.TransformBroadcaster()

    br.sendTransform((pose_msg.position.x,pose_msg.position.y,pose_msg.position.z),
                     (pose_msg.orientation.x,pose_msg.orientation.y,pose_msg.orientation.z,pose_msg.orientation.w),
                     rospy.Time.now(),
                     robot_name,
                     "/world")

def publisher_of_tf():

    rospy.init_node('publisher_of_tf_node', anonymous=True)
    robot_name_list = ["turtle1","turtle2","coke_can"]
    gazebo_model_object = GazeboModel(robot_name_list)


    for robot_name in robot_name_list:
        pose_now = gazebo_model_object.get_model_pose(robot_name)

    # Leave enough time to be sure the Gazebo Model logs have finished
    time.sleep(1)
    rospy.loginfo("Ready..Starting to Publish TF data now...")

    rate = rospy.Rate(5) # 5hz
    while not rospy.is_shutdown():
        for robot_name in robot_name_list:
            pose_now = gazebo_model_object.get_model_pose(robot_name)
            if not pose_now:
                print "The " + str(robot_name) + "'s Pose is not yet available...Please try again later"
            else:
                handle_turtle_pose(pose_now, robot_name)
        rate.sleep()


if __name__ == '__main__':
    try:
        publisher_of_tf()
    except rospy.ROSInterruptException:
        pass

Do you have a Noetic version of this ?