I have a geometry_msgs::WrenchStamped and what I need is two Eigen::Vector3d (one for the torque, one for the force) in a different frame. How do I do this? I am quite confuse about if I should use tf or tf2? Which function exactly do I use for this? And what libraries do I need to include? I found different answers to that but no tutorials or examples.

I am using ros melodic and I work with C++.