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tf, translation between frames

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Hi, I have a setup with multiple target frames. Now I want to get the position of my last frame in relation to the world frame. During execution typing **rosrun tf tf_echo /world /LAST_LINK** I receive exactly what I am looking for **- Translation: [20.632, 0.000, -3.759] - Rotation: in Quaternion [-0.574, -0.000, 0.819, 0.000] in RPY [-0.000, 1.222, 3.142]** How can I read these values in my program in order to perform further calculations from it?

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