Description

tf has been deprecated since ROS Hydro. As a consequence ROS 2 only supports tf2. Once MoveIt has been updated to use tf2 we can consider working toward making it compatible with ROS 2.

Since the migration to tf2 is also useful for ROS 1 this should happen in the ROS 1 code base before considering to support ROS 2.

Expected behaviour

Remove all dependencies on tf. Only have dependencies on tf2 instead.