tf rotation before translation?

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I cannot find any documentation on convention used by tf.

$ rosrun tf tf_echo /map /odom
At time 1263248513.809
- Translation: [2.398, 6.783, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.707, 0.707]
in RPY [0.000, -0.000, -1.570]

1. For translation value and rotation quaternion value, is translation happening in original frame and then rotation happens? Or, does it rotate first and then the translation happens? What is the convention used by tf system?

2. Which RPY convention is RPY using?

Thanks.