Replace tf with tf2 #203
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Replace tf with tf2 #203
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This is partly duplicates the 4 year older #48 pull request which there hasn't been any movement on recently, and would need refactoring.
tf has been deprecated since ROS Hydro. In preparation for a ROS2 port, it seems wise to move to tf2 for the master/ros1 branch.
edit: I may have messed up tf_to_pose_publisher.py while dealing with git. It worked when I tested it, but maybe hold off on this PR until I've had another look.