Let's test this with a simple code. Create a new file in chapter5_tutorials/src with the name tf_broadcaster.cpp, and put the following code inside it:

#include <ros/ros.h> 
#include <tf/transform_broadcaster.h> 
 
int main(int argc, char** argv){ 
  ros::init(argc, argv, "robot_tf_publisher"); 
  ros::NodeHandle n; 
 
  ros::Rate r(100); 
 
  tf::TransformBroadcaster broadcaster; 
 
  while(n.ok()){ 
    broadcaster.sendTransform( 
      tf::StampedTransform( 
        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 
         0.0, 0.2)), 
        ros::Time::now(),"base_link", "base_laser")); 
    r.sleep(); 
  } 
} 

Remember to add the following line in your CMakelist.txt file to create the new executable:

add_executable(tf_broadcaster src/tf_broadcaster.cpp) 
target_link_libraries(tf_broadcaster ${catkin_LIBRARIES}) 

We also create another node that will use the transform, and which will give us the position of a point on the sensor with reference to the center of base_link (our robot).