How to use Eigen with tf2?

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As tf is deprecated, I've started learning how to use tf2.

Unfortunately the documentation and the tutorials are not complete, as the old tf tutorial where.

In particular there's no explanation on how to publish in the most effective way an Eigen transformation throught tf.

The only way I've managed to solve the problem, was writing a boilerplate code, filling a message manually.

This happens as there's no function, as far as I can see, in the tf2_eigen package to convert an Eigen affine3D transformation into a geometry_message.

There seemes to be no documentation for tf2_eigen package. If I'm wrong, can you please point me where I can find the documentation?

And, by the way, the "external conversion" interface (that seemes to be complete only for kdl) is very strange, I would expect a templated broadcaster, in wich i could send an eigen transform like this:

broadcaster.sendTransform(eigenTransform, parent_frame, child_frame, timestamp);