text: #!/usr/bin/env python3
  import os
  if "ROS_NAMESPACE" not in os.environ:
      os.environ["ROS_NAMESPACE"] = "/robot1"
  import rospy
  import tf
  from std_msgs.msg import Float64
  
  torso_height = 0.334
  def torso_height_callback(height: Float64):
      global torso_height
      torso_height = height.data
  
  
  if __name__ == '__main__':
      rospy.init_node("soccer_base_footprint_to_torso")
      rospy.Subscriber("torso_height", Float64, torso_height_callback)
      while not rospy.is_shutdown():
          br = tf.TransformBroadcaster()
          br.sendTransform((0, 0, torso_height),
                           [0, 0, 0, 1],
                           rospy.Time.now(),
                           os.environ["ROS_NAMESPACE"] + "/torso",
                           os.environ["ROS_NAMESPACE"] + "/base_footprint")
          rospy.sleep(0.05)