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Some cases when tf is less suitable:

• The coordinate frames naturally form a graph rather than a tree (e.g., a slam graph).
• There is frequent reparenting of frames (e.g., a robot which is localized w.r.t. a changing local frame rather than a global one)
• The transformations include additional information such as uncertainty estimates not present in the TF message type.
• For efficiency, in situations where there are a large number of frames, most of which are only of interest to a few subscribers.