‘buffer’ is not a type tf2_ros::TransformListener tfl_(buffer);

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Yes, I have added tf2_ros and tf2 both in the CMakeLists.txt and package.xml but it still doesn't work. Further, I was following this: http://wiki.ros.org/tf2/Tutorials/Mig.... But tried to do it in ros2

Can you confirm that this node runs in your system. Also can you provide your code?

At best you you also try the structure in the above mentioned link?

Some further information about your System (Linux/Windows, ROS2 Version) would also be good to know.

I managed to get my code running using the following changes:

1) adding in public, std::shared_ptr<tf2_ros::buffer> tf_; std::shared_ptr<tf2_ros::transformlistener> tfl_; 2) In the constructor, rclcpp::Clock::SharedPtr clock; clock=std::make_shared< rclcpp::Clock >(RCL_SYSTEM_TIME); tf_.reset(new tf2_ros::Buffer(clock)); tfl_.reset(new tf2_ros::TransformListener(*tf_)); 3) And followed the syntax from the migration guide to use tf_->lookupTransform()

I am using ubuntu 20.04 Thank You