how write tf listener to get the pose and republish these values for RRRBot robot?

hi. I want plot position (x y z) for camera and second link for [RRRBot robot](https://github.com/JoshMarino/gazebo_and_ros_control). [NEngelhard](http://answers.ros.org/users/18581/nengelhard/) told me: " you need to use a tf listener to get the pose and republish these values so that rqt_plot is able to plot them. " but I do not know what to do. can any body write tf listener for [RRRBot robot](https://github.com/JoshMarino/gazebo_and_ros_control) ?? can i use [this steps](http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF)?