Contributing on TF implementation

[clynamen]

I would like to help, maybe by starting working on TF tree handling. Before starting, I would like to ask if you already have some design in mind, or if you think an implementation similar to the roscpp one would be ok.

[adnanademovic]

I never looked into the internals of TF/TF2, so I have no design in mind.

It's is just a separate library, so it is something that you could work on totally independently (I think). Again, not familiar with what the needs of TF are.