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<<PackageHeader(tf2_geometry_msgs)>> <<TOC(4)>>

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

=== Supported Conversions ===
||ros message type ||tf2 datatype ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/Quaternion.html|geometry_msgs::Quaternion]] ||tf2::Quaternion ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/QuaternionStamped.html|geometry_msgs::QuaternionStamped]] ||tf2::Stamped<tf2::Quaternion> ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/Transform.html|geometry_msgs::Transform]] ||tf2::Transform ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/Pose.html|geometry_msgs::Pose]] ||tf2::Transform ||


=== Supported Data Extractions ===
Timestamps and frame IDs can be extracted from the following geometry_msgs
 * [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/Vector3Stamped.html|Vector3Stamped]]
 * [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/PointStamped.html|PointStamped]]
 * [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/PoseStamped.html|PoseStamped]]
 * [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/QuaternionStamped.html|QuaternionStamped]]
 * [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/TransformStamped.html|TransformStamped]]

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

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