I believe this will result in needing to port some other things from ROS 1, like message_filters, but also to finish porting tf2 in ROS 2, see:

https://github.com/ros2/geometry2/blob/0415037bff122fb606480e3736b4eb983f375b82/tf2_ros/include/tf2_ros/message_filter.h#L48-L50

Here are some places in the code that need to be touched:

• rviz/rviz_common/src/rviz_common/frame_manager.hpp

  Lines 45 to 46 in ca8f42e

  	// TODO(wjwwood): reenable this when message_filters is ported.
  	// #include <tf2_ros/message_filter.h>

• rviz/rviz_common/src/rviz_common/frame_manager.hpp

  Lines 260 to 278 in ca8f42e

  	// TODO(wjwwood): figure out how to replace FilgerFailureReason here
  	#if 0
  	/// Create a description of a transform problem.
  	/**
  	* \param frame_id The name of the frame with issues.
  	* \param stamp The time for which the problem was detected.
  	* \param caller_id Dummy parameter, not used.
  	* \param reason The reason given by the tf::MessageFilter in its failure callback.
  	* \return An error message describing the problem.
  	*
  	* Once a problem has been detected with a given frame or transform,
  	* call this to get an error message describing the problem. */
  	std::string
  	discoverFailureReason(
  	const std::string & frame_id,
  	const rclcpp::Time & stamp,
  	const std::string & caller_id,
  	tf::FilterFailureReason reason);
  	#endif

And probably other places.