This package contains the ROS bindings for the tf2 library, for both Python and C++.
tf2_ros is the C++ ROS wrapper around the tf2 transform library.
To broadcast transforms using ROS:
To listen for transforms using ROS:
List of exceptions thrown in this library:
For more information, see the tf2 tutorials: http://wiki.ros.org/tf2/Tutorials
Or, get an overview of data type conversion methods in geometry_experimental packages.