Hi

I like to publish a pose using IMU and Monocular Image from ORB_SLAM3 in ROS2 and humble. I made a function. But some how not familiar with tf2 in ROS2 . So I got some errors. I include the tf2 header and also declared in CMakeList.txt dependencies. But still not working

Here the code

void ImageGrabber::SyncWithImu()
{
  //while(1)
  while (rclcpp::ok())
  {
    cv::Mat im;
    double tIm = 0;
    if (!img0Buf.empty()&&!mpImuGb->imuBuf.empty())
    {
      tIm = img0Buf.front()->header.stamp.sec + img0Buf.front()->header.stamp.nanosec * 1e-9;
      if (tIm > mpImuGb->imuBuf.back()->header.stamp.sec + mpImuGb->imuBuf.back()->header.stamp.nanosec * 1e-9)
          continue;
      {
      this->mBufMutex.lock();
      im = GetImage(img0Buf.front());
      img0Buf.pop();
      this->mBufMutex.unlock();
      }

      vector<ORB_SLAM3::IMU::Point> vImuMeas;
      mpImuGb->mBufMutex.lock();
      if(!mpImuGb->imuBuf.empty())
      {
        // Load imu measurements from buffer
        vImuMeas.clear();
        while (!mpImuGb->imuBuf.empty() && mpImuGb->imuBuf.front()->header.stamp.sec +
                        mpImuGb->imuBuf.front()->header.stamp.nanosec * 1e-9 <= tIm)
        {
          double t = mpImuGb->imuBuf.front()->header.stamp.sec + mpImuGb->imuBuf.front()->header.stamp.nanosec * 1e-9;          
          cv::Point3f acc(mpImuGb->imuBuf.front()->linear_acceleration.x, mpImuGb->imuBuf.front()->linear_acceleration.y, mpImuGb->imuBuf.front()->linear_acceleration.z);
          cv::Point3f gyr(mpImuGb->imuBuf.front()->angular_velocity.x, mpImuGb->imuBuf.front()->angular_velocity.y, mpImuGb->imuBuf.front()->angular_velocity.z);
          vImuMeas.push_back(ORB_SLAM3::IMU::Point(acc,gyr,t));
          mpImuGb->imuBuf.pop();
        }
      }
      mpImuGb->mBufMutex.unlock();
      if(mbClahe)
        mClahe->apply(im,im);

      cv::Mat T_, R_, t_ ;

      //stores return variable of TrackMonocular
      mpSLAM->TrackMonocular(im, tIm, vImuMeas);

      if (pub_tf || pub_pose)
      {    
        if (!(T_.empty())) {

          cv::Size s = T_.size();
          if ((s.height >= 3) && (s.width >= 3)) {
            R_ = T_.rowRange(0,3).colRange(0,3).t();
            t_ = -R_*T_.rowRange(0,3).col(3);
            std::vector<float> q = ORB_SLAM3::Converter::toQuaternion(R_);
            float scale_factor=1.0;
            //tf2::Transform transform;
            geometry_msgs::msg::TransformStamped tf_msg;
            tf_msg.header.stamp = rclcpp::Time(tIm);
            tf_msg.header.frame_id = "world";
            tf_msg.child_frame_id = "ORB_SLAM3_MONO_INERTIAL";
            tf2::Transform tf_msg;
            tf_msg.transform.translation.x = t_.at<float>(0, 0) * scale_factor;
            tf_msg.transform.translation.y = t_.at<float>(0, 1) * scale_factor;
            tf_msg.transform.translation.z = t_.at<float>(0, 2) * scale_factor;
            tf_msg.transform.rotation.x = q[0];
            tf_msg.transform.rotation.y = q[1];
            tf_msg.transform.rotation.z = q[2];
            tf_msg.transform.rotation.w = q[3];
            //transform = tf2::Transform(tf_msg.transform);
            //tf_broadcaster_->sendTransform(tf_msg.transform);
          /*
          if (pub_tf)
            {
              static tf::TransformBroadcaster br_;
              br_.sendTransform(tf::StampedTransform(transform, ros::Time(tIm), "world", "ORB_SLAM3_MONO_INERTIAL"));
            }

          */

          if (pub_pose)
            {
              geometry_msgs::msg::PoseStamped pose;
              //pose.header.stamp = img0Buf.front()->header.stamp;
              pose.header.frame_id ="ORB_SLAM3_MONO_INERTIAL";
              tf_msg::poseTFToMsg(transform, pose.pose);
              orb_pub->publish(pose);
            }

          }
        }
      }
    }

    std::chrono::milliseconds tSleep(1);
    std::this_thread::sleep_for(tSleep);
  }
}

void ImuGrabber::GrabImu(const sensor_msgs::msg::Imu::SharedPtr imu_msg)
{
  mBufMutex.lock();
  imuBuf.push(imu_msg);
  mBufMutex.unlock();
  return;
}

So i got errors in

    tf2::Transform tf_msg;

and

      tf_msg::poseTFToMsg(transform, pose.pose);

error: ‘tf2’ has not been declared
245 | tf2::Transform tf_msg;

error: ‘tfmsg’ is not a class, namespace, or enumeration 269 |
tfmsg::poseTFToMsg(transform, pose.pose);

Any help? Thanks