tf2_geometry_msgs contains functions for converting between various geometry_msgs data types.
This library is an implementation of the templated conversion interface specified in tf/convert.h. It offers conversion and transform convenience functions between various geometry_msgs data types, such as Vector, Point, Pose, Transform, Quaternion, etc.
See the Conversions overview wiki page for more information about datatype conversion in tf2.
This library consists of one header only, tf2_geometry_msgs/tf2_geometry_msgs.h, which consists mostly of specializations of template functions defined in tf2/convert.h.