The interesting part is to generate motion commands from this TF data. From your generated pose you would have to derive a valid joint command (as we are currently only supporting commands in joint space) and send this to the robot.
However, as we use ROS-Control in the driver you can use other ROS-Controllers with the driver, as well. For instance, there is the cartesian_controllers package maintained by a colleague which does exactly that. You would have to add this package to your workspace, recompile and setup the respective controllers as explained in the package’s documentation.