Insufficient documentation for tf_eigen/kdl/bullet

[boris-il-forte]

Hi,

As tf is now deprecated, I started porting some of my code from tf to tf2.

Unfortunately it was not so easy, principally because seemes that now using tf geometry library is now "deprecated", so I decided to use instead the eigen library.

The problem is that the documentation is insufficient: as far as I can tell is missing a full example with eigen/kdl/bullet to recieve and send transforms. I'm principally talking about the tf2 tutorials and doxygen. Only datatypes conversion is present , but seemes that the full implementation is only for kdl.

see: http://answers.ros.org/question/223764/how-to-use-eigen-with-tf2/

I suggest to enhance tf2 tutorials with an effective example of how was designed the interaction with external datatypes.