def pub_transformed():
pub = rospy.Publisher('pub_transformed', PoseStampedArray, queue_size=10)
rospy.init_node('pub_transformed', anonymous=True)
rate = rospy.Rate(1) # 10hz
b = Bagger(filename=constants.DEMO_FILE)
posarr = PoseStampedArray()
posarr.header.frame_id = 'r_wrist_roll_link'
posarr.header.stamp = rospy.get_rostime()
posarr.poses = b.getTransformedPosesStamped()
# print posarr
while not rospy.is_shutdown():
pub.publish(posarr)
rate.sleep()
