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TF and KDL can achieve somewhat similar, but somewhat different uses. TF does not use KDL internally.

TF is frequently used when you just want to transform data from one coordinate frame to another.

KDL can also be used to find where a particular frame is based on a kinematic chain and joint positions, but doesn't offer the convenient functions for transforming sensor data. KDL does however offer kinematics functions such as Inverse Kinematics, Forward Kinematics, Jacobian calculations, etc.