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tf2 was designed to operate as a standalone library. For efficiency and easy of integration it does rely on the message primatives in the ros messaging libraries.

To use it completely outside a ROS ecosystem as it stands it will require copying a few header files.

I think there is room for some templated logic to conditionally support ros datatypes or support any datatypes with similar enough APIs. If you'd like to look at doing that I'd be happy to consider merging it upstream and possibly releasing tf2 as a standalone library assuming it could be done without adding dependencies.