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The tf2::Transform is in <tf2/LinearMath/Transform.h> here. My guess is that you are not adding the correct paths to your include directories in you CMakeLists.txt

Note that in general it's recommended to use a standalone linear math library like eigen or bullet or kdl

You can used packages like tf2_bullet or tf2_eigen or tf2_kdl

Or you can add support for your own datatypes: http://wiki.ros.org/tf2/Tutorials/Create%20Data%20Conversion%20Package%20%28C%2B%2B%29