cannot convert ‘tf2_ros::TransformListener*’ to ‘tf2_ros::Buffer*’

edit

I am trying to upgrade some existing code that use tf with kinetic to use instead tf2 with noetic.

In the following line of code, planner_ is of type base_local_planner::TrajectoryPlannerROS and the code wants to call its initialize function.

planner_.initialize("TrajectoryPlannerROS", &tf_, &costmap_ros_);

The function signature for "initialize" is:

void base_local_planner::TrajectoryPlannerROS::initialize   (   
  std::string   name,
  tf2_ros::Buffer *     tf,
  costmap_2d::Costmap2DROS *    costmap_ros 
}

and the documentation says that tf is "a pointer to a transform listener", despite its type being tf2_ros::Buffer.

In the line of code above, tf_ is of type tf2_ros::TransformListener, which seems to match the documentation. However, the compiler throws an error that:

error: cannot convert ‘tf2_ros::TransformListener’ to ‘tf2_ros::Buffer’

I am very confused. How should one pass in a tf2_ros::TransformListener as a parameter of type tf2_ros::Buffer? The documentation is very confusing.