ROS2 Transforms (TF2) Skill

This skill demonstrates how to use the ROS2 TF2 (Transform Library) while adhering to Clean Architecture principles. The Domain layer should be protected from direct TF2 dependencies by using Repository or Service patterns.

Domain Layer

The domain layer should not depend on TF2 or geometry_msgs.

# domain/entities/pose.py
from dataclasses import dataclass

@dataclass
class Pose:
    position: tuple  # (x, y, z)
    orientation: tuple  # (x, y, z, w)
    frame_id: str
    timestamp: float