		ManagerTf() ;
		ros::NodeHandlePtr _nh;
		std::string uav_base_frame, ugv_base_frame;
		double initial_pos_ugv_x, initial_pos_ugv_y, initial_pos_ugv_z, initial_pos_ugv_yaw, initial_pos_ugv_pitch, initial_pos_ugv_roll, pos_uav_above_ugv;
		void initializationTf();
		void tfBroadcaster(const double _x,const double _y,const double _z,const double _R,const double _P,const double _Y, std::string _from, std::string _to);

	protected:

};

#endif