2.0

Currently implemented in tf2 in geometry_experimental stack.

tf

• We intend to simplify and clean up the tf api.
  • Tf itself will only contain the core APIs like "lookupTransform" in its public api, and will use its own transform data type.
  • seperate packages with template implementations will work with data types form different libraries. Each package will provide its own set of transform-functions that matches the specific data types of a library.
  • Plugins provide template-based conversion functions to convert between semantically equivalent data types of different libraries.
• Provide a server/client interface for
  • long term tf data storage and querying
  • light weight clients, allowing for lower volume tf traffic.

bullet

• We want to move towards the official Bullet release instead of our own patched version of Bullet.

Long Term

tf

• Improve tf_prefix/ multi robot support
• Add velocity support
• Add covariance/uncertainty support