Revision history [back]

You might consider using the tf_remap node that comes with the tf package: http://www.ros.org/wiki/tf#Nodes

From the wiki:

tf_remap

tf_remap listens to the /tf_old topic and republishes transforms on the /tf topic. This is mainly used with out-of-date bag files that need their coordinate frame IDs updated. The typical operation for this node is to play the bag file with /tf:=/old_tf. The tf_remap node is run with a ~mappings parameter that describes the mapping of frame IDs from old to new.