在ROS中，如何将姿态从kinect帧转换到pr2的base_link帧？

import rospy
import tf

rospy.init_node('transform_listener')

listener = tf.TransformListener()
listener.waitForTransform('/kinect_frame', '/base_link', rospy.Time(), rospy.Duration(4.0))

(trans, rot) = listener.lookupTransform('/base_link', '/kinect_frame', rospy.Time(0))

# 假设有一个姿态变量pose，需要将其从kinect帧转换到pr2的base_link帧
pose_in_kinect_frame = Pose()
pose_in_base_link_frame = Pose()

# 将姿态变换到pr2的base_link帧
pose_in_base_link_frame.position.x = pose_in_kinect_frame.position.x + trans[0]
pose_in_base_link_frame.position.y = pose_in_kinect_frame.position.y + trans[1]
pose_in_base_link_frame.position.z = pose_in_kinect_frame.position.z + trans[2]
pose_in_base_link_frame.orientation.x = pose_in_kinect_frame.orientation.x + rot[0]
pose_in_base_link_frame.orientation.y = pose_in_kinect_frame.orientation.y + rot[1]
pose_in_base_link_frame.orientation.z = pose_in_kinect_frame.orientation.z + rot[2]
pose_in_base_link_frame.orientation.w = pose_in_kinect_frame.orientation.w + rot[3]