tf2
master
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.
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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 that class this library using CPython bindings.
The main interface is through the tf2::BufferCore interface.
It uses the exceptions in exceptions.h and the Stamped datatype in transform_datatypes.h.
tf2 offers a templated conversion interface for external libraries to specify conversions between tf2-specific data types and user-defined data types. Various templated functions in tf2_ros use the conversion interface to apply transformations from the tf server to these custom datatypes.
The conversion interface is defined in tf2/convert.h.
Some packages that implement this interface:
More documentation for the conversion interface is available on the ROS Wiki.