DEPRECATED: Please instead refer to athena.
This ROS package acts as an extension to tf_conversions and tf/transform_datatypes that are inherently built with ROS. transform_conversions provides further wrappers and convenience functions to quickly convert between transform types including tf::Transform; Eigen::Matrix4d (and other Eigen types), as well as geometry_msgs message types. This package is a work in progress and likely has missing functionality. Python conversions for numpy are also supported. For your specific use cases, issues and pull requests are greatly appreciated.