2. If you do not want to create a temporary frame, you can calculate what the translational vector will be in the rotated frame. And then use those values instead. To illustrate: If you want to first rotate by r,p,y and then translate in the rotated frame by a,b,c. You should calculate the new translational values R * {a,b,c} where R is the rotation matrix constructed by the rotation angles. Then you can use the tf2 package with these new values.