You're reading the documentation for a development version. For the latest released version, please have a look at Galactic.
Many of the tf2 tutorials are available for both C++ and Python. The tutorials are streamlined to complete either the C++ track or the Python track. If you want to learn both C++ and Python, you should go through the tutorials once for C++ and once for Python.
If you have not yet created a workspace in which to complete the tutorials, follow this tutorial.
This tutorial will give you a good idea of what tf2 can do for you. It shows off some of the tf2 power in a multi-robot example using turtlesim. This also introduces using
This tutorial teaches you how to broadcast static coordinate frames to tf2.
This tutorial teaches you how to broadcast the state of a robot to tf2.
This tutorial teaches you how to use tf2 to get access to frame transformations.