kyle-basis

Usage of tf2 outside of ROS (evaluation for Basis)

15

## Bug report **Required Info:** - Operating System: - N/A - Installation type: - N/A - Version or commit hash: - [247fd08](https://github.com/ros2/geometry2/commit/247fd08ac99ed043036067ce681adaa7e238dd10) - DDS implementation: - N/A - Client library...

Add Tf2 versions of lookupTransform, lookupVelocity, setTransform

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This PR implements #726 - see there for initial discussion. Some notes: * No response was given for naming, so I went with `*Tf2`. * I'm not totally pleased with...

Add isNan or isValid to Vector and Quaternion

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#### Feature description It would be great for validation if Vector and Quaternion had validity checks built in, for NaN (and magnitude on Quaternion). This could would make `insertTransformImpl` cleaner...

This is a fairly big, fairly messy PR. It isn't expected that this be merged, nor that the changes here are the correct way to implement this. This PR implements...