#$!/$usr$/$bin$/$python$3$ import rospy import math import tf$2\_$ros import geometry$\_$msgs$.$msg

if $\_\_$name$\_\_==\text{'}\_\_$main$\_\_\text{'}$:

rospy.init$\_$node$(\text{'}$tf$2\_$look$\_$at$\_$hand'$)$

tfBuffer $=$ tf$2\_$ros.Buffer$()$

listener $=$ tf$2\_$ros.TransformListener$($tfBuffer$)$

rate $=$ rospy.Rate$(10\mathrm{.}0)$

while not rospy.is$\_$shutdown$()$:

try:

trans $=$ tfBuffer.lookup$\_$transform$(\text{'}$Head$\text{'},$ 'LFinger$23\_$link', rospy.Time$())$ except $($tf$2\_$ros.LookupException, tf$2\_$ros.ConnectivityException, tf$2\_$ros.ExtrapolationException$)$:

rate.sleep$()$

continue

print$("$trans: x: $\%$f y: $\%$f z: $\%$f$",$ trans.transform.translation.x$,$ trans.transform.translation.y$,$ trans.transform.translation.z$)$

rate.sleep$()$

Please use the code above to answer the following:

Write a node that uses the head$/$eyes to gesture toward the hand

Write another node that keeps the head pointed at the hand

Write a final node that look in the direction that the hand is pointing