Eigen::eigen2_Transform3D and TF

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Hi Guys,

I am trying to use tf::TransformTFToEigen with a TF listener.

I have both eigen2 and eigen3 installed.

The error I get is "'eigen2_Transform3d' is not a member of Eigen". I was assuming that including <tf_conversions tf_eigen.h=""> would pull in any eigen dependencies, as that is what happens in tf_eigen.cpp.

Here is my code:

 #include <ros/ros.h>
 #include "std_msgs/String.h"
 #include "std_msgs/Float32.h"
 #include <tf_conversions/tf_eigen.h>
 #include <tf/transform_listener.h>

 int main(int argc, char** argv){
   ros::init(argc, argv, "openni_tracker_listener");

   ros::NodeHandle node;

   tf::TransformListener listener;

   Eigen::eigen2_Transform3d t;

   ros::Rate rate(10.0);

   while (node.ok()){

     tf::StampedTransform transform;

     try{
       listener.lookupTransform( "/right_hand", "/left_hand",  
                            ros::Time(0), transform);
       tf::TransformTFToEigen(transform,t);

     }catch (tf::TransformException ex){
       ROS_ERROR("%s",ex.what());
     }
     ros::spinOnce();
     rate.sleep();
   }
   return 0;
 };

Thanks for the help!

Kel