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Unfortunately, we don't have any nice, succinct examples, but I think it would be good if we port the tf2 tutorials to ROS 2.

I know RViz makes use of tf2_ros::TransformListener as part of the TFWrapper class.

The AmclNode class also uses tf2_ros::TransformListener as well as tf2_ros::TransformBroadcaster. I'm sure there's other instances of them being used in the wild that others might be able to point you to.

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