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Do you have geometry_experimental installed?

sudo apt-get install ros-fuerte-geometry-experimental

Do you have geometry_experimental installed?

sudo apt-get install ros-fuerte-geometry-experimental

Edit: Why do you think tf2_ros/transform_broadcaster.h is not what you are looking for? As I understand it, the tf2 package (now) contains the basic alghorithms and classes while the tf2_ros package contains the ros specific parts, including the listener. Did you try it out?

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