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Hi @Karsten

In general I believe that most users have been using the kdl datatypes which have most of the conversions defined

Part of the design of tf2 was to enable the use of your own arbitrary datatypes. We've recently gotten feedback that people want to use the tf2 datatypes themselves. During the design they were brought in as a necessary dependency, but sought to discourage their use. To make this available there are some new conversions on the way

The goal is that to add support for any arbitrary datatype takes one header file with ~ 15 lines of boiler plate plus the implementation itself. This should be low enough for anyone to add support for project specific datatypes as well as having generic ones available.

There are definitely more bullet conversions possible, as well as a tf2_eigen package which was originally envisioned but without demand was never written.

In general there are a ton of conversions possible, so we haven't tried to spent time speculatively filling in every conversion possible. If you or anyone else would like any more specific datatypes conversions supported please open a ticket or even better a pull-request.