tf2_geometry

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Documentation

This package allows to convert ros messages to tf2 messages and to retrieve data from ros messages.

ros message type	tf2 datatype
geometry_msgs::Quaternion	tf2::Quaternion
geometry_msgs::QuaternionStamped	tf2::Stamped<tf2::Quaternion>
geometry_msgs::Transform	tf2::Transform
geometry_msgs::Pose	tf2::Transform

Timestamps and frame IDs can be extracted from the following geometry_msgs

Please see the Code API documentation (top right of this page) for use.