Where to find ROS2 Dashing geometry2/tf2 documentation?

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I am trying to port this wheel encoder function to ROS2 Dashing using geometry2/tf2, but the only guides that I have found are either for the wrong ROS version or only explain command-line usage.

The documentation explaining a wrong version is calling tf2_ros::TransformBroadcaster without arguments:

static tf2_ros::TransformBroadcaster br;

But tf2_ros::TransformBroadcaster() for Dashing is expecting 3 arguments, as shown here:

  template<class NodeT, class AllocatorT = std::allocator<void>>
  TransformBroadcaster(
    NodeT && node,
    const rclcpp::QoS & qos = rclcpp::QoS(100),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options =
      rclcpp::PublisherOptionsWithAllocator<AllocatorT>())

Where to find developer documentation for geometry2 on ROS2 Dashing?