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tf_transformations

  • Software
  • Middleware
  • Library

A ROS 2 Python library that provides the rotation and quaternion conversion functions of ROS 1's tf transformations module, so existing code can be ported with a small import change.

Source on GitHub: github.com/DLu/tf_transformations (opens in a new tab). Facts read at commit 457aa9b (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 457aa9b (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Offers the functions of the ROS 1 tf.transformations module under the tf_transformations name for ROS 2.
  • Ports ROS 1 code by changing the import from tf.transformations to tf_transformations.
  • Uses the transforms3d library for the math wherever it is available.
  • Keeps the original implementations for functions not yet migrated to transforms3d.
  • Quaternions are returned in x, y, z, w order, unlike transforms3d which uses w, x, y, z.
  • Can be installed as a ROS binary package with apt on ROS 2 distributions.

Written by Robotheca from the project's README (opens in a new tab) at commit 457aa9b.

Getting started

Difficulty
Beginner

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
9 Feb 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.