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Perhaps the following is the tutorial you are looking for

C++ ver: http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29

Python ver: http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28Python%29

You can change '/turtle2' and '/turtle1' to /base_link and /odom.

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