Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.
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Numpy is used but it is not declared as a dependency #230
Numpy is used by
tf.listener, but it is not declared as a dependency intf/package.xml.https://github.com/ros/geometry/blob/8be1f625144eba8a46b83eb7fdc24aaabf11e565/tf/src/tf/listener.py#L29