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An update on this question:

I realised that "tf_matrix_ops is actually" a homemade package I wrote some time ago... For the case of "" it is reallsy starightforward to convert it to ROS 2 as it is bascically a mathematic operation package.

After this one can easily write "tf_to_matrix" and "matrix_to_tf" helper functions using euler_from_quaternion, quaternion_from_euler, compose_matrix and decompose_matrix from