tf2_kdl contains functions for converting between geometry_msgs and KDL data types.
This library is an implementation of the templated conversion interface specified in tf/convert.h. It enables easy conversion from geometry_msgs Transform and Point types to the types specified by the Orocos KDL (Kinematics and Dynamics Library) API (see http://www.orocos.org/kdl).
See the Conversions overview wiki page for more information about datatype conversion in tf2.
This library consists of one header only, tf2_kdl/tf2_kdl.h, which consists mostly of specializations of template functions defined in tf2/convert.h.