Get transform through transformlistener

get_transform

#!/usr/bin/env python
import rospy
import tf

if __name__ == '__main__':
    rospy.init_node("person_tf_broadcaster")

    br = tf.TransformBroadcaster()

    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
        origin = rospy.get_param("/person/origin")
        quat = rospy.get_param("/person/quaternion")

        br.sendTransform(
            (origin['x'], origin['y'], origin['z']), 
            (quat['x'], quat['y'], quat['z'], quat['w']),
            rospy.Time().now(), 
            "person", 
            "base_link")

        rate.sleep()