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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b tf2 is the second generation of the tf library.
+
+This library implements the interface defined by tf2::BufferCore.
+
+There is also a Python wrapper with the same API that class this library using CPython bindings.
+
+\section codeapi Code API
+
+The main interface is through the tf2::BufferCore interface.  
+
+It uses the exceptions in exceptions.h and the Stamped datatype 
+in transform_datatypes.h. 
+
+\section conversions Conversion Interface
+
+tf2 offers a templated conversion interface for external libraries to specify conversions between
+tf2-specific data types and user-defined data types. Various templated functions in tf2_ros use the
+conversion interface to apply transformations from the tf server to these custom datatypes.
+
+The conversion interface is defined in tf2/convert.h.
+
+Some packages that implement this interface:
+
+- tf2_bullet
+- tf2_eigen
+- tf2_geometry_msgs
+- tf2_kdl
+- tf2_robot_sensor_msgs
+
+More documentation for the conversion interface is available on the <A HREF="http://wiki.ros.org/tf2/Tutorials/Migration/DataConversions">ROS Wiki</A>.
+
+*/