Will all transform related code in future ROS 2 relases be based on tf2 library ? Or will the tf library from ROS 1 be ported to ROS 2 in any future release ?
The short answer is: no, it is not planned to support
tf1 in ROS 2.
The slightly longer answer:
tf2 is the successor of
tf and available for a long time. The use of
tf is deprecated and it should be fairly easy to upgrade any code. It might even be the case that
tf 1 won’t be released in a future ROS 1 release. Therefore spending any effort on support
tf 1 in ROS 2 is considered not worth it.