diff --git a/rbs_perception/scripts/pose_estimation_lifecycle.py b/rbs_perception/scripts/pose_estimation_lifecycle.py
index d735185..4f504d6 100755
--- a/rbs_perception/scripts/pose_estimation_lifecycle.py
+++ b/rbs_perception/scripts/pose_estimation_lifecycle.py
@@ -23,15 +23,15 @@ from rclpy.lifecycle import Publisher
 from rclpy.lifecycle import State
 from rclpy.lifecycle import TransitionCallbackReturn
 from rclpy.timer import Timer
-from rclpy.impl.logging_severity import LoggingSeverity
+#from rclpy.impl.logging_severity import LoggingSeverity
 
 #from tf.transformations import quaternion_from_euler
 from ament_index_python.packages import get_package_share_directory
 from sensor_msgs.msg import Image, CameraInfo
 from geometry_msgs.msg import Pose, TransformStamped
 from tf2_ros import TransformBroadcaster, TransformException
-#from tf2_ros.buffer import Buffer
-#from tf2_ros.transform_listener import TransformListener
+from tf2_ros.buffer import Buffer
+from tf2_ros.transform_listener import TransformListener
 
 from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images
 import cv2 # OpenCV library
@@ -89,7 +89,7 @@ class PoseEstimator(Node):
         self.publishDelay = 2.0
         self.topicSrv = self.nodeName + "/detect6Dpose"
         self._InitService()
-        self.camera_pose = self.get_camera_pose()
+        self.camera_pose = Pose() #self.get_camera_pose()
 
         self.tmpdir = tempfile.gettempdir()
         self.mytemppath = Path(self.tmpdir) / "rbs_per"
@@ -101,6 +101,8 @@ class PoseEstimator(Node):
         super().__init__(self.nodeName, **kwargs)
         self.declare_parameter("mesh_path", rclpy.Parameter.Type.STRING)
 
+        self.tf_buffer = Buffer()
+        self.tf_listener = TransformListener(self.tf_buffer, self)
         # Initialize the transform broadcaster
         self.tf_broadcaster = TransformBroadcaster(self)
         # Used to convert between ROS and OpenCV images
@@ -110,20 +112,20 @@ class PoseEstimator(Node):
         self.objMeshFile = ""
         self.objPath = ""
     
-    def get_camera_pose(self) -> Pose:
-        # <camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
-        p = Pose()
-        p.position.x = -2.
-        p.position.y = -0.55
-        p.position.z = 1.44
-        #R = rpyToMatrix([0, 0.5, -2.4])
-        #q = pin.Quaternion()
-        #q = t3d.euler.euler2quat(0., 0.5, -2.4)
-        p.orientation.w = 0.9524  #q[0]
-        p.orientation.x = -0.0476 #q[1]
-        p.orientation.y = 0.213   #q[2]
-        p.orientation.z = 0.213   #q[3]
-        return p
+    # def get_camera_pose(self) -> Pose:
+    #     # <camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
+    #     p = Pose()
+    #     p.position.x = -2.
+    #     p.position.y = -0.55
+    #     p.position.z = 1.44
+    #     #R = rpyToMatrix([0, 0.5, -2.4])
+    #     #q = pin.Quaternion()
+    #     #q = t3d.euler.euler2quat(0., 0.5, -2.4)
+    #     p.orientation.w = 0.9524  #q[0]
+    #     p.orientation.x = -0.0476 #q[1]
+    #     p.orientation.y = 0.213   #q[2]
+    #     p.orientation.z = 0.213   #q[3]
+    #     return p
    
     def publish(self):
         """Publish a new message when enabled."""
@@ -429,6 +431,20 @@ class PoseEstimator(Node):
         if not self._is_camerainfo:
             self.get_logger().warning("No data from CameraInfo")
             return
+        # get camera pose
+        camera_name = self.topicImage.split('/')[1]
+        try:
+            t = self.tf_buffer.lookup_transform("world", camera_name, rclpy.time.Time())
+        except TransformException as ex:
+            self.get_logger().info(f'Could not transform {camera_name} to world: {ex}')
+            return
+        self.camera_pose.position.x = t.transform.translation.x
+        self.camera_pose.position.y = t.transform.translation.y
+        self.camera_pose.position.z = t.transform.translation.z
+        self.camera_pose.orientation.w = t.transform.rotation.w
+        self.camera_pose.orientation.x = t.transform.rotation.x
+        self.camera_pose.orientation.y = t.transform.rotation.y
+        self.camera_pose.orientation.z = t.transform.rotation.z
     
         # Convert ROS Image message to OpenCV image
         current_frame = self.br.imgmsg_to_cv2(data)