tf2 is the second generation of the transform libraray, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.
tf2 is the second generation of the tf library.
This library implements the interface defined by tf2::BufferCore
There is also a python wrapper with the same API.
The main interface is through the tf2::BufferCore interface.
It uses the exceptions in exceptions.h and the Stamped datatype in transform_datatypes.h.