http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29A http://wiki.ros.org/tf#Tutorials http://wiki.ros.org/Tutorials/Quaternions https://developer.leapmotion.com/documentation/cpp/devguide/Leap_Hand.html catkin_create_pkg tf_listener roscpp tf geometry_msgs
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