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There is a generic way to convert messages in tf2. Tutorials are here: http://wiki.ros.org/tf2/Tutorials/Migration/DataConversions#preview

Right now there are implementations for kdl, bullet, and geometry_msgs. A contribution of a tf2_eigen package would be appreciated. It would require the equivalent header file to this one for bullet https://github.com/ros/geometry_experimental/blob/indigo-devel/tf2_bullet/include/tf2_bullet/tf2_bullet.h

implementing methods toMsg, fromMsg and doTransform

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