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+tf2_ros Overview
+================
+
+This is the Python API reference for the tf2_ros package.
+
+To broadcast transforms using ROS:
+- Call :meth:`rospy.init` to initialize a node.
+- Construct a :class:`tf2_ros.TransformBroadcaster`.
+- Pass a :class:`geometry_msgs.TransformStamped` message to :meth:`tf2_ros.TransformBroadcaster.sendTransform`.
+
+    - Alternatively, pass a vector of :class:`geometry_msgs.TransformStamped` messages.
+
+To listen for transforms using ROS:
+- Construct an instance of a class that implements :class:`tf2_ros.BufferInterface`.
+
+    - :class:`tf2_ros.Buffer` is the standard implementation which offers a tf2_frames service that can respond to requests with a :class:`tf2_msgs.FrameGraph`.
+    - :class:`tf2_ros.BufferClient` uses an :class:`actionlib.SimpleActionClient` to wait for the requested transform to become available.
+
+- Pass the :class:`tf2_ros.Buffer` to the constructor of :class:`tf2_ros.TransformListener`.
+    - Optionally, pass a :class:`ros.NodeHandle` (otherwise TransformListener will connect to the node for the process).
+    - Optionally, specify if the TransformListener runs in its own thread or not.
+
+- Use :meth:`tf2_ros.BufferInterface.transform` to apply a transform on the tf server to an input frame.
+    - Or, check if a transform is available with :meth:`tf2_ros.BufferInterface.can_transform`.
+    - Then, call :meth:`tf2_ros.BufferInterface.lookup_transform` to get the transform between two frames.
+
+For more information, see the tf2 tutorials: http://wiki.ros.org/tf2/Tutorials
+
+Or, get an `overview`_ of data type conversion methods in geometry_experimental packages.
+
+See http://wiki.ros.org/tf2/Tutorials for more detailed usage.
+
+.. _overview: http://wiki.ros.org/tf2/Tutorials/Migration/DataConversions
+
+Classes and Exceptions
+======================
+
+.. toctree::
+    :maxdepth: 2
+
+    tf2_ros
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`search`