diff --git a/src/maintain/scripts/test.py b/src/maintain/scripts/test.py
index 675f73b..5ba89fc 100755
--- a/src/maintain/scripts/test.py
+++ b/src/maintain/scripts/test.py
@@ -4,8 +4,9 @@ import numpy as np
 import cv2 as cv
 from matplotlib import pyplot as plt
 import rospy
+import tf2_ros
 from sensor_msgs.msg import Image , CameraInfo
-from geometry_msgs.msg import PoseStamped
+from geometry_msgs.msg import PoseStamped, TransformStamped
 import message_filters
 from cv_bridge import CvBridge, CvBridgeError
 import rospkg
@@ -32,18 +33,18 @@ def box_callback(box, depth, color_info):
         z = np.mean(depth_roi) * 0.001
         x = (screw_x - color_intrinsics[2]) * z / color_intrinsics[0]
         y = (screw_y - color_intrinsics[5]) * z / color_intrinsics[4]
-        print(x,y,z)
+        # print(x,y,z)
         # calculate normal direction of screw area
 
-        # X,Y = np.meshgrid(np.arange(depth_roi.shape[1]), np.arange(depth_roi.shape[0]))
-        # X = X.reshape(-1)
-        # Y = Y.reshape(-1)
-        # Z = depth_roi.reshape(-1)
-        # points = np.vstack([X, Y, Z]).T
-        # center = np.mean(points, axis=0)
-        # points = points - center
-        # U, S, V = np.linalg.svd(points)
-        # normal = V[2]
+        X,Y = np.meshgrid(np.arange(depth_roi.shape[1]), np.arange(depth_roi.shape[0]))
+        X = X.reshape(-1)
+        Y = Y.reshape(-1)
+        Z = depth_roi.reshape(-1)
+        points = np.vstack([X, Y, Z]).T
+        center = np.mean(points, axis=0)
+        points = points - center
+        U, S, V = np.linalg.svd(points)
+        normal = V[2]
         # print(normal)
 
         # publish screw pose
@@ -60,6 +61,22 @@ def box_callback(box, depth, color_info):
 
         pose_pub.publish(screw_pose)
 
+        # publish screw tf
+        screw_tf = TransformStamped()
+        screw_tf.header.stamp = rospy.Time.now()
+        screw_tf.header.frame_id = "camera_color_optical_frame"
+        screw_tf.child_frame_id = "screw"
+        screw_tf.transform.translation.x = x
+        screw_tf.transform.translation.y = y
+        screw_tf.transform.translation.z = z
+        screw_tf.transform.rotation.x = normal[0]
+        screw_tf.transform.rotation.y = normal[1]
+        screw_tf.transform.rotation.z = normal[2]
+        screw_tf.transform.rotation.w = 0
+
+        transform_pub.publish(screw_tf)
+        tf_broadcaster.sendTransform(screw_tf)
+
 
 
     except Exception as e:
@@ -77,6 +94,8 @@ if __name__ == "__main__":
     color_info = message_filters.Subscriber("/camera/color/camera_info", CameraInfo)
 
     pose_pub = rospy.Publisher('/screw_pose', PoseStamped, queue_size=10)
+    transform_pub = rospy.Publisher('/tf', TransformStamped, queue_size=10)
+    tf_broadcaster = tf2_ros.TransformBroadcaster()
 
     ts = message_filters.TimeSynchronizer([box_sub, depth_sub, color_info], 1)
     ts.registerCallback(box_callback)