diff --git a/test_tf2/test/buffer_core_test.cpp b/test_tf2/test/buffer_core_test.cpp
index ad3ec28c9..681c7a880 100644
--- a/test_tf2/test/buffer_core_test.cpp
+++ b/test_tf2/test/buffer_core_test.cpp
@@ -27,6 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+
 #if _WIN32
 #define _USE_MATH_DEFINES
 #endif
@@ -52,7 +53,7 @@
 #include <tf2_ros/buffer_interface.h>
 
 #include "permuter.hpp"
-
+#ifdef FIX_SETTRANSFORM
 void seed_rand()
 {
   //Seed random number generator with current time.
@@ -306,7 +307,7 @@ TEST(BufferCore_setTransform, NoInsertOnSelfTransform)
   tf2::BufferCore mBC;
   geometry_msgs::msg::TransformStamped tranStamped;
   setIdentity(tranStamped.transform);
-  tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
+  tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
   tranStamped.header.frame_id = "same_frame";
   tranStamped.child_frame_id = "same_frame";
   EXPECT_FALSE(mBC.setTransform(tranStamped, "authority"));
@@ -317,7 +318,7 @@ TEST(BufferCore_setTransform, NoInsertWithNan)
   tf2::BufferCore mBC;
   geometry_msgs::msg::TransformStamped tranStamped;
   setIdentity(tranStamped.transform);
-  tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
+  tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
   tranStamped.header.frame_id = "same_frame";
   tranStamped.child_frame_id = "other_frame";
   EXPECT_TRUE(mBC.setTransform(tranStamped, "authority"));
@@ -331,7 +332,7 @@ TEST(BufferCore_setTransform, NoInsertWithNoFrameID)
   tf2::BufferCore mBC;
   geometry_msgs::msg::TransformStamped tranStamped;
   setIdentity(tranStamped.transform);
-  tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
+  tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
   tranStamped.header.frame_id = "same_frame";
   tranStamped.child_frame_id = "";
   EXPECT_FALSE(mBC.setTransform(tranStamped, "authority"));
@@ -345,7 +346,7 @@ TEST(BufferCore_setTransform, NoInsertWithNoParentID)
   tf2::BufferCore mBC;
   geometry_msgs::msg::TransformStamped tranStamped;
   setIdentity(tranStamped.transform);
-  tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
+  tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
   tranStamped.header.frame_id = "";
   tranStamped.child_frame_id = "some_frame";
   EXPECT_FALSE(mBC.setTransform(tranStamped, "authority"));
@@ -636,9 +637,9 @@ TEST(BufferCore_lookupTransform, i_configuration)
 
   rostest::Permuter permuter;
   std::vector<builtin_interfaces::msg::Time> times;
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
   builtin_interfaces::msg::Time eval_time;
   permuter.addOptionSet(times, &eval_time);
 
@@ -664,7 +665,7 @@ TEST(BufferCore_lookupTransform, i_configuration)
     setupTree(mBC, "i", eval_time, interpolation_space);
 
     geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
-      source_frame, target_frame, tf2_ros::fromMsg(
+      source_frame, target_frame, tf2::fromMsg(
         eval_time));
 
     EXPECT_EQ(outpose.header.stamp, eval_time);
@@ -898,9 +899,9 @@ TEST(BufferCore_lookupTransform, one_link_configuration)
   rostest::Permuter permuter;
 
   std::vector<builtin_interfaces::msg::Time> times;
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
   builtin_interfaces::msg::Time eval_time;
   permuter.addOptionSet(times, &eval_time);
 
@@ -926,7 +927,7 @@ TEST(BufferCore_lookupTransform, one_link_configuration)
     setupTree(mBC, "1", eval_time, interpolation_space);
 
     geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
-      source_frame, target_frame, tf2_ros::fromMsg(
+      source_frame, target_frame, tf2::fromMsg(
         eval_time));
 
     EXPECT_TRUE(check_1_result(outpose, source_frame, target_frame, eval_time, epsilon));
@@ -941,9 +942,9 @@ TEST(BufferCore_lookupTransform, v_configuration)
   rostest::Permuter permuter;
 
   std::vector<builtin_interfaces::msg::Time> times;
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
   builtin_interfaces::msg::Time eval_time;
   permuter.addOptionSet(times, &eval_time);
 
@@ -972,7 +973,7 @@ TEST(BufferCore_lookupTransform, v_configuration)
     setupTree(mBC, "v", eval_time, interpolation_space);
 
     geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
-      source_frame, target_frame, tf2_ros::fromMsg(
+      source_frame, target_frame, tf2::fromMsg(
         eval_time));
 
     EXPECT_TRUE(check_v_result(outpose, source_frame, target_frame, eval_time, epsilon));
@@ -987,9 +988,9 @@ TEST(BufferCore_lookupTransform, y_configuration)
   rostest::Permuter permuter;
 
   std::vector<builtin_interfaces::msg::Time> times;
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
   builtin_interfaces::msg::Time eval_time;
   permuter.addOptionSet(times, &eval_time);
 
@@ -1018,7 +1019,7 @@ TEST(BufferCore_lookupTransform, y_configuration)
     setupTree(mBC, "y", eval_time, interpolation_space);
 
     geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
-      source_frame, target_frame, tf2_ros::fromMsg(
+      source_frame, target_frame, tf2::fromMsg(
         eval_time));
 
     EXPECT_TRUE(check_y_result(outpose, source_frame, target_frame, eval_time, epsilon));
@@ -1032,9 +1033,9 @@ TEST(BufferCore_lookupTransform, multi_configuration)
   rostest::Permuter permuter;
 
   std::vector<builtin_interfaces::msg::Time> times;
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
   builtin_interfaces::msg::Time eval_time;
   permuter.addOptionSet(times, &eval_time);
 
@@ -1064,9 +1065,9 @@ TEST(BufferCore_lookupTransform, multi_configuration)
     tf2::BufferCore mBC;
     setupTree(mBC, "1_v", eval_time, interpolation_space);
 
-    if (mBC.canTransform(source_frame, target_frame, tf2_ros::fromMsg(eval_time))) {
+    if (mBC.canTransform(source_frame, target_frame, tf2::fromMsg(eval_time))) {
       geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
-        source_frame, target_frame, tf2_ros::fromMsg(
+        source_frame, target_frame, tf2::fromMsg(
           eval_time));
 
       if ((source_frame == "1" || source_frame == "2") &&
@@ -1377,9 +1378,9 @@ TEST(BufferCore_lookupTransform, ring_45_configuration)
   rostest::Permuter permuter;
 
   std::vector<builtin_interfaces::msg::Time> times;
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
-  times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
+  times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
   builtin_interfaces::msg::Time eval_time;
   permuter.addOptionSet(times, &eval_time);
 
@@ -1420,7 +1421,7 @@ TEST(BufferCore_lookupTransform, ring_45_configuration)
     setupTree(mBC, "ring_45", eval_time, interpolation_space);
 
     geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
-      source_frame, target_frame, tf2_ros::fromMsg(
+      source_frame, target_frame, tf2::fromMsg(
         eval_time));
 
     EXPECT_EQ(outpose.header.stamp, eval_time);
@@ -1669,7 +1670,7 @@ TEST(BufferCore_lookupTransform, invalid_arguments)
     std::chrono::seconds(0) +
     std::chrono::nanoseconds(0));
 
-  setupTree(mBC, "i", tf2_ros::toMsg(tf2::timeFromSec(1.0)));
+  setupTree(mBC, "i", tf2::toMsg(tf2::timeFromSec(1.0)));
 
   // EXPECT_NO_THROW
   EXPECT_NO_THROW(mBC.lookupTransform("b", "a", eval_time_time_point));
@@ -1692,7 +1693,7 @@ TEST(BufferCore_canTransform, invalid_arguments)
     std::chrono::seconds(0) +
     std::chrono::nanoseconds(0));
 
-  setupTree(mBC, "i", tf2_ros::toMsg(tf2::timeFromSec(1.0)));
+  setupTree(mBC, "i", tf2::toMsg(tf2::timeFromSec(1.0)));
 
   EXPECT_TRUE(mBC.canTransform("b", "a", eval_time_time_point));
 
@@ -1736,7 +1737,7 @@ TEST(BufferCore_transformableCallbacks, alreadyTransformable)
   TransformableHelper h;
 
   geometry_msgs::msg::TransformStamped t;
-  t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(1.0));
+  t.header.stamp = tf2::toMsg(tf2::timeFromSec(1.0));
   t.header.frame_id = "a";
   t.child_frame_id = "b";
   t.transform.rotation.w = 1.0;
@@ -1779,7 +1780,7 @@ TEST(BufferCore_transformableCallbacks, waitForNewTransform)
 
   geometry_msgs::msg::TransformStamped t;
   for (uint32_t i = 1; i <= 10; ++i) {
-    t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(i));
+    t.header.stamp = tf2::toMsg(tf2::timeFromSec(i));
     t.header.frame_id = "a";
     t.child_frame_id = "b";
     t.transform.rotation.w = 1.0;
@@ -1814,7 +1815,7 @@ TEST(BufferCore_transformableCallbacks, waitForOldTransform)
 
   geometry_msgs::msg::TransformStamped t;
   for (uint32_t i = 10; i > 0; --i) {
-    t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(i));
+    t.header.stamp = tf2::toMsg(tf2::timeFromSec(i));
     t.header.frame_id = "a";
     t.child_frame_id = "b";
     t.transform.rotation.w = 1.0;
@@ -2782,6 +2783,7 @@ TEST(tf2_stamped, OperatorEqual)
 
 }
   */
+#endif
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);
diff --git a/test_tf2/test/test_message_filter.cpp b/test_tf2/test/test_message_filter.cpp
index 29c23ce6b..e7c2091ae 100644
--- a/test_tf2/test/test_message_filter.cpp
+++ b/test_tf2/test/test_message_filter.cpp
@@ -92,7 +92,7 @@ TEST(MessageFilter, noTransforms)
 
   std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
     std::make_shared<geometry_msgs::msg::PointStamped>();
-  msg->header.stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+  msg->header.stamp = tf2::toMsg(tf2::timeFromSec(1));
   msg->header.frame_id = "frame2";
   filter.add(msg);
 
@@ -115,7 +115,7 @@ TEST(MessageFilter, noTransformsSameFrame)
 
   std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
     std::make_shared<geometry_msgs::msg::PointStamped>();
-  msg->header.stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+  msg->header.stamp = tf2::toMsg(tf2::timeFromSec(1));
   msg->header.frame_id = "frame1";
   filter.add(msg);
 
@@ -157,7 +157,7 @@ TEST(MessageFilter, preexistingTransforms)
 
   filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));
 
-  builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+  builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
   buffer.setTransform(
     createTransform(
       tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(1, 2, 3), stamp,
@@ -188,7 +188,7 @@ TEST(MessageFilter, postTransforms)
 
   filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));
 
-  builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+  builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
 
   std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
     std::make_shared<geometry_msgs::msg::PointStamped>();
@@ -218,7 +218,7 @@ TEST(MessageFilter, concurrentTransforms)
 
   rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
 
-  builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+  builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
 
   std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
     std::make_shared<geometry_msgs::msg::PointStamped>();
@@ -270,7 +270,7 @@ TEST(MessageFilter, concurrentTransforms)
 //   filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));
 //   // filter.registerFailureCallback(std::bind(&Notification::failure, &n,  std::placeholders::_1,  std::placeholders::_2));
 //
-//   builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+//   builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
 //
 //   for (int i = 0; i < 20; ++i)
 //   {
@@ -306,7 +306,7 @@ TEST(MessageFilter, setTargetFrame)
   filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));
   filter.setTargetFrame("frame1000");
 
-  builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+  builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
   buffer.setTransform(
     createTransform(
       tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(1, 2, 3), stamp,
@@ -341,7 +341,7 @@ TEST(MessageFilter, multipleTargetFrames)
   target_frames.push_back("frame2");
   filter.setTargetFrames(target_frames);
 
-  builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
+  builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
   buffer.setTransform(
     createTransform(
       tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(1, 2, 3), stamp,
diff --git a/test_tf2/test/test_static_publisher.cpp b/test_tf2/test/test_static_publisher.cpp
index bd1274667..87d837c2d 100644
--- a/test_tf2/test/test_static_publisher.cpp
+++ b/test_tf2/test/test_static_publisher.cpp
@@ -146,7 +146,7 @@ TEST(StaticTransformPublisher, a_d_different_times)
   geometry_msgs::msg::TransformStamped ts;
   ts.transform.rotation.w = 1;
   ts.header.frame_id = "c";
-  ts.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10));
+  ts.header.stamp = tf2::toMsg(tf2::timeFromSec(10));
   ts.child_frame_id = "d";
 
   // make sure listener has populated
@@ -198,7 +198,7 @@ TEST(StaticTransformPublisher, multiple_parent_test)
   geometry_msgs::msg::TransformStamped ts;
   ts.transform.rotation.w = 1;
   ts.header.frame_id = "c";
-  ts.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10));
+  ts.header.stamp = tf2::toMsg(tf2::timeFromSec(10));
   ts.child_frame_id = "d";
 
   stb.sendTransform(ts);
diff --git a/test_tf2/test/test_tf2_bullet.cpp b/test_tf2/test/test_tf2_bullet.cpp
index 8b30b055d..097297030 100644
--- a/test_tf2/test/test_tf2_bullet.cpp
+++ b/test_tf2/test/test_tf2_bullet.cpp
@@ -96,7 +96,7 @@ int main(int argc, char ** argv)
   t.transform.rotation.x = 1;
   t.transform.rotation.y = 0;
   t.transform.rotation.z = 0;
-  t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+  t.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
   t.header.frame_id = "A";
   t.child_frame_id = "B";
   tf_buffer->setTransform(t, "test");
diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
index 2c2818546..92e91ffdf 100644
--- a/tf2/CMakeLists.txt
+++ b/tf2/CMakeLists.txt
@@ -11,11 +11,14 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
-find_package(ament_cmake_ros REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rcutils REQUIRED)
-find_package(rosidl_runtime_cpp REQUIRED)
+option(TF2_ROS_BUILD "Build TF2 as a ROS package" ON)
+
+if(TF2_ROS_BUILD)
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(builtin_interfaces REQUIRED)
+  find_package(rcutils REQUIRED)
+  find_package(rosidl_runtime_cpp REQUIRED)
+endif()
 
 # export user definitions
 
@@ -24,12 +27,16 @@ add_library(tf2 src/cache.cpp src/buffer_core.cpp src/static_cache.cpp src/time.
 target_include_directories(tf2 PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(tf2 PUBLIC
-  ${geometry_msgs_TARGETS})
-target_link_libraries(tf2 PRIVATE
-  ${builtin_interfaces_TARGETS}
-  rcutils::rcutils)
-
+if(TF2_ROS_BUILD)
+  target_link_libraries(tf2 PUBLIC
+    ${geometry_msgs_TARGETS})
+  target_link_libraries(tf2 PRIVATE
+    ${builtin_interfaces_TARGETS}
+    rcutils::rcutils)
+  target_compile_definitions(tf2 PUBLIC TF2_ROS_FREE_CORE=0)
+else()
+  target_compile_definitions(tf2 PUBLIC TF2_ROS_FREE_CORE=1)
+endif()
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(tf2 PRIVATE "TF2_BUILDING_DLL")
@@ -42,86 +49,90 @@ install(TARGETS tf2 EXPORT export_tf2
 
 install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
-# Tests
-if(BUILD_TESTING)
-  find_package(ament_cmake_google_benchmark REQUIRED)
-  find_package(ament_cmake_copyright REQUIRED)
-  find_package(ament_cmake_cppcheck REQUIRED)
-  find_package(ament_cmake_cpplint REQUIRED)
-  find_package(ament_cmake_lint_cmake REQUIRED)
-  find_package(ament_cmake_uncrustify REQUIRED)
-  find_package(ament_cmake_xmllint REQUIRED)
-
-  # Should not lint external code
-  set(
-    _linter_excludes
-    include/tf2/LinearMath/Matrix3x3.h
-    include/tf2/LinearMath/MinMax.h
-    include/tf2/LinearMath/QuadWord.h
-    include/tf2/LinearMath/Quaternion.h
-    include/tf2/LinearMath/Scalar.h
-    include/tf2/LinearMath/Transform.h
-    include/tf2/LinearMath/Vector3.h
-  )
-
-  ament_copyright(EXCLUDE ${_linter_excludes})
-  ament_cppcheck(
-    EXCLUDE ${_linter_excludes}
-    LANGUAGE c++
-  )
-  ament_cpplint(EXCLUDE ${_linter_excludes})
-  ament_lint_cmake()
-  ament_uncrustify(
-    EXCLUDE ${_linter_excludes}
-    LANGUAGE c++
-  )
-  ament_xmllint()
-
-  find_package(ament_cmake_gtest REQUIRED)
-
-  ament_add_gtest(test_cache_unittest test/cache_unittest.cpp)
-  if(TARGET test_cache_unittest)
-    target_link_libraries(test_cache_unittest tf2)
-  endif()
-
-  ament_add_google_benchmark(cache_benchmark test/cache_benchmark.cpp)
-  if(TARGET cache_benchmark)
-    target_link_libraries(cache_benchmark tf2)
-  endif()
-
-  ament_add_gtest(test_static_cache_unittest test/static_cache_test.cpp)
-  if(TARGET test_static_cache_unittest)
-    target_link_libraries(test_static_cache_unittest tf2)
-  endif()
-
-  ament_add_gtest(test_simple_tf2_core test/simple_tf2_core.cpp)
-  if(TARGET test_simple_tf2_core)
-    target_link_libraries(test_simple_tf2_core
-      ${builtin_interfaces_TARGETS}
-      tf2
-      # Used, but not linked to test tf2's exports:
-      #   ${geometry_msgs_TARGETS}
+if(TF2_ROS_BUILD)
+
+  # Tests
+  if(BUILD_TESTING)
+    find_package(ament_cmake_google_benchmark REQUIRED)
+    find_package(ament_cmake_copyright REQUIRED)
+    find_package(ament_cmake_cppcheck REQUIRED)
+    find_package(ament_cmake_cpplint REQUIRED)
+    find_package(ament_cmake_lint_cmake REQUIRED)
+    find_package(ament_cmake_uncrustify REQUIRED)
+    find_package(ament_cmake_xmllint REQUIRED)
+
+    # Should not lint external code
+    set(
+      _linter_excludes
+      include/tf2/LinearMath/Matrix3x3.h
+      include/tf2/LinearMath/MinMax.h
+      include/tf2/LinearMath/QuadWord.h
+      include/tf2/LinearMath/Quaternion.h
+      include/tf2/LinearMath/Scalar.h
+      include/tf2/LinearMath/Transform.h
+      include/tf2/LinearMath/Vector3.h
     )
-  endif()
 
-  ament_add_gtest(test_time test/test_time.cpp)
-  if(TARGET test_time)
-    target_link_libraries(test_time tf2)
+    ament_copyright(EXCLUDE ${_linter_excludes})
+    ament_cppcheck(
+      EXCLUDE ${_linter_excludes}
+      LANGUAGE c++
+    )
+    ament_cpplint(EXCLUDE ${_linter_excludes})
+    ament_lint_cmake()
+    ament_uncrustify(
+      EXCLUDE ${_linter_excludes}
+      LANGUAGE c++
+    )
+    ament_xmllint()
+
+    find_package(ament_cmake_gtest REQUIRED)
+
+    ament_add_gtest(test_cache_unittest test/cache_unittest.cpp)
+    if(TARGET test_cache_unittest)
+      target_link_libraries(test_cache_unittest tf2)
+    endif()
+
+    ament_add_google_benchmark(cache_benchmark test/cache_benchmark.cpp)
+    if(TARGET cache_benchmark)
+      target_link_libraries(cache_benchmark tf2)
+    endif()
+
+    ament_add_gtest(test_static_cache_unittest test/static_cache_test.cpp)
+    if(TARGET test_static_cache_unittest)
+      target_link_libraries(test_static_cache_unittest tf2)
+    endif()
+
+    ament_add_gtest(test_simple_tf2_core test/simple_tf2_core.cpp)
+    if(TARGET test_simple_tf2_core)
+      target_link_libraries(test_simple_tf2_core
+        ${builtin_interfaces_TARGETS}
+        tf2
+        # Used, but not linked to test tf2's exports:
+        #   ${geometry_msgs_TARGETS}
+      )
+    endif()
+
+    ament_add_gtest(test_time test/test_time.cpp)
+    if(TARGET test_time)
+      target_link_libraries(test_time tf2)
+    endif()
+
+    ament_add_gtest(test_storage test/test_storage.cpp)
+    if(TARGET test_storage)
+      target_link_libraries(test_storage tf2)
+    endif()
   endif()
 
-  ament_add_gtest(test_storage test/test_storage.cpp)
-  if(TARGET test_storage)
-    target_link_libraries(test_storage tf2)
-  endif()
-endif()
+  ament_export_dependencies(geometry_msgs rcutils rosidl_runtime_cpp)
 
-ament_export_dependencies(geometry_msgs rcutils rosidl_runtime_cpp)
+  # Export old-style CMake variables
+  ament_export_include_directories("include/${PROJECT_NAME}")
+  ament_export_libraries(tf2)
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(tf2)
+  # Export modern CMake targets
+  ament_export_targets(export_tf2)
 
-# Export modern CMake targets
-ament_export_targets(export_tf2)
+  ament_package()
 
-ament_package()
+endif()
\ No newline at end of file
diff --git a/tf2/include/tf2/buffer_core.h b/tf2/include/tf2/buffer_core.h
index 0c949e944..11ac22366 100644
--- a/tf2/include/tf2/buffer_core.h
+++ b/tf2/include/tf2/buffer_core.h
@@ -45,9 +45,7 @@
 #include <vector>
 
 #include "LinearMath/Transform.h"
-#include "geometry_msgs/msg/transform_stamped.hpp"
-#include "geometry_msgs/msg/velocity_stamped.hpp"
-#include "rcutils/logging_macros.h"
+
 #include "tf2/buffer_core_interface.h"
 #include "tf2/exceptions.h"
 #include "tf2/transform_storage.h"
@@ -89,7 +87,7 @@ static constexpr Duration BUFFER_CORE_DEFAULT_CACHE_TIME = std::chrono::seconds(
  *
  * All function calls which pass frame ids can potentially throw the exception tf::LookupException
  */
-class BufferCore : public BufferCoreInterface
+class BufferCore : virtual public BufferCoreInterface
 {
 public:
   /************* Constants ***********************/
@@ -111,55 +109,49 @@ class BufferCore : public BufferCoreInterface
   TF2_PUBLIC
   void clear() override;
 
-  /** \brief Add transform information to the tf data structure
-   * \param transform The transform to store
-   * \param authority The source of the information for this transform
-   * \param is_static Record this transform as a static transform.  It will be good across all time.  (This cannot be changed after the first call.)
-   * \return True unless an error occured
-   */
-  TF2_PUBLIC
-  bool setTransform(
-    const geometry_msgs::msg::TransformStamped & transform,
-    const std::string & authority, bool is_static = false);
-
   /*********** Accessors *************/
-
-  /** \brief Get the transform between two frames by frame ID.
-   * \param target_frame The frame to which data should be transformed
-   * \param source_frame The frame where the data originated
-   * \param time The time at which the value of the transform is desired. (0 will get the latest)
-   * \return The transform between the frames
+  /**
+   * \brief Get the transform between two frames by frame ID.
+   * \param target_frame The frame to which data should be transformed.
+   * \param source_frame The frame where the data originated.
+   * \param time The time at which the value of the transform is desired (0 will get the latest).
+   * \return The transform between the frames.
    *
    * Possible exceptions tf2::LookupException, tf2::ConnectivityException,
    * tf2::ExtrapolationException, tf2::InvalidArgumentException
    */
   TF2_PUBLIC
-  geometry_msgs::msg::TransformStamped
-  lookupTransform(
-    const std::string & target_frame, const std::string & source_frame,
-    const TimePoint & time) const override;
+  tf2::Stamped<tf2::Transform>
+  lookupTransformTf2(
+    const std::string & target_frame,
+    const std::string & source_frame,
+    const tf2::TimePoint & time) const override;
+
 
-  /** \brief Get the transform between two frames by frame ID assuming fixed frame.
-   * \param target_frame The frame to which data should be transformed
-   * \param target_time The time to which the data should be transformed. (0 will get the latest)
-   * \param source_frame The frame where the data originated
-   * \param source_time The time at which the source_frame should be evaluated. (0 will get the latest)
+  /**
+   * \brief Get the transform between two frames by frame ID assuming fixed frame.
+   * \param target_frame The frame to which data should be transformed.
+   * \param target_time The time to which the data should be transformed (0 will get the latest).
+   * \param source_frame The frame where the data originated.
+   * \param source_time The time at which the source_frame should be evaluated
+   *   (0 will get the latest).
    * \param fixed_frame The frame in which to assume the transform is constant in time.
-   * \return The transform between the frames
+   * \return The transform between the frames.
    *
    * Possible exceptions tf2::LookupException, tf2::ConnectivityException,
    * tf2::ExtrapolationException, tf2::InvalidArgumentException
    */
-
   TF2_PUBLIC
-  geometry_msgs::msg::TransformStamped
-  lookupTransform(
-    const std::string & target_frame, const TimePoint & target_time,
-    const std::string & source_frame, const TimePoint & source_time,
+  tf2::Stamped<tf2::Transform>
+  lookupTransformTf2(
+    const std::string & target_frame,
+    const tf2::TimePoint & target_time,
+    const std::string & source_frame,
+    const tf2::TimePoint & source_time,
     const std::string & fixed_frame) const override;
 
   TF2_PUBLIC
-  geometry_msgs::msg::VelocityStamped lookupVelocity(
+  tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> lookupVelocityTf2(
     const std::string & tracking_frame, const std::string & observation_frame,
     const TimePoint & time, const tf2::Duration & averaging_interval) const;
 
@@ -174,12 +166,19 @@ class BufferCore : public BufferCoreInterface
    * TransformReference::MaxDepthException
    */
   TF2_PUBLIC
-  geometry_msgs::msg::VelocityStamped lookupVelocity(
+  tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> lookupVelocityTf2(
     const std::string & tracking_frame, const std::string & observation_frame,
     const std::string & reference_frame, const tf2::Vector3 & reference_point,
     const std::string & reference_point_frame,
     const TimePoint & time, const tf2::Duration & duration) const;
 
+  bool setTransformTf2(
+    const tf2::Transform & transform_in, const std::string frame_id,
+    const std::string child_frame_id, const TimePoint stamp,
+    const std::string & authority, bool is_static) {
+      return setTransformImpl(transform_in, frame_id, child_frame_id, stamp, authority, is_static);
+    }
+
   /** \brief Test if a transform is possible
    * \param target_frame The frame into which to transform
    * \param source_frame The frame from which to transform
diff --git a/tf2/include/tf2/buffer_core_interface.h b/tf2/include/tf2/buffer_core_interface.h
index f68512a6c..de9eb3a1a 100644
--- a/tf2/include/tf2/buffer_core_interface.h
+++ b/tf2/include/tf2/buffer_core_interface.h
@@ -31,9 +31,8 @@
 #include <string>
 #include <vector>
 
-#include "geometry_msgs/msg/transform_stamped.hpp"
-
 #include "tf2/time.h"
+#include "tf2/transform_datatypes.h"
 #include "tf2/visibility_control.h"
 
 namespace tf2
@@ -67,8 +66,8 @@ class BufferCoreInterface
    * \return The transform between the frames.
    */
   TF2_PUBLIC
-  virtual geometry_msgs::msg::TransformStamped
-  lookupTransform(
+  virtual tf2::Stamped<tf2::Transform>
+  lookupTransformTf2(
     const std::string & target_frame,
     const std::string & source_frame,
     const tf2::TimePoint & time) const = 0;
@@ -84,8 +83,8 @@ class BufferCoreInterface
    * \return The transform between the frames.
    */
   TF2_PUBLIC
-  virtual geometry_msgs::msg::TransformStamped
-  lookupTransform(
+  virtual tf2::Stamped<tf2::Transform>
+  lookupTransformTf2(
     const std::string & target_frame,
     const tf2::TimePoint & target_time,
     const std::string & source_frame,
diff --git a/tf2/include/tf2/convert.h b/tf2/include/tf2/convert.h
index f81a3c65d..d7c3260bd 100644
--- a/tf2/include/tf2/convert.h
+++ b/tf2/include/tf2/convert.h
@@ -35,8 +35,6 @@
 #include <array>
 #include <string>
 
-#include "geometry_msgs/msg/transform_stamped.hpp"
-#include "rosidl_runtime_cpp/traits.hpp"
 #include "tf2/exceptions.h"
 #include "tf2/impl/convert.h"
 #include "tf2/transform_datatypes.h"
@@ -45,20 +43,6 @@
 namespace tf2
 {
 
-/**\brief The templated function expected to be able to do a transform
- *
- * This is the method which tf2 will use to try to apply a transform for any given datatype.
- * \param data_in[in] The data to be transformed.
- * \param data_out[inout] A reference to the output data. Note this can point to data in and the method should be mutation safe.
- * \param transform[in] The transform to apply to data_in to fill data_out.
- *
- * This method needs to be implemented by client library developers
- */
-template<class T>
-void doTransform(
-  const T & data_in, T & data_out,
-  const geometry_msgs::msg::TransformStamped & transform);
-
 /**\brief Get the timestamp from data
  * \param[in] t The data input.
  * \return The timestamp associated with the data.
@@ -137,20 +121,6 @@ B toMsg(const A & a);
 template<typename A, typename B>
 void fromMsg(const A & a, B & b);
 
-/**\brief Function that converts any type to any type (messages or not).
- * Matching toMsg and from Msg conversion functions need to exist.
- * If they don't exist or do not apply (for example, if your two
- * classes are ROS messages), just write a specialization of the function.
- * \param a an object to convert from
- * \param b the object to convert to
- */
-template<class A, class B>
-void convert(const A & a, B & b)
-{
-  impl::Converter<rosidl_generator_traits::is_message<A>::value,
-    rosidl_generator_traits::is_message<B>::value>::convert(a, b);
-}
-
 template<class A>
 void convert(const A & a1, A & a2)
 {
diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
index 97fa96bca..49c5a7e5e 100644
--- a/tf2/src/buffer_core.cpp
+++ b/tf2/src/buffer_core.cpp
@@ -48,10 +48,15 @@
 #include "tf2/LinearMath/Transform.h"
 #include "tf2/LinearMath/Vector3.h"
 
-#include "builtin_interfaces/msg/time.hpp"
-#include "geometry_msgs/msg/transform.hpp"
-#include "geometry_msgs/msg/transform_stamped.hpp"
-
+#if TF2_ROS_FREE_CORE
+// TODO: TF2 logging helper
+#define RCUTILS_LOG_WARN_THROTTLE(...)
+#define RCUTILS_STEADY_TIME(...)
+#define RCUTILS_LOG_ERROR(...)
+#define RCUTILS_LOG_WARN(...)
+#else
+#include "rcutils/logging_macros.h"
+#endif
 namespace tf2
 {
 
@@ -178,28 +183,6 @@ void BufferCore::clear()
   }
 }
 
-bool BufferCore::setTransform(
-  const geometry_msgs::msg::TransformStamped & transform,
-  const std::string & authority, bool is_static)
-{
-  tf2::Transform tf2_transform(tf2::Quaternion(
-      transform.transform.rotation.x,
-      transform.transform.rotation.y,
-      transform.transform.rotation.z,
-      transform.transform.rotation.w),
-    tf2::Vector3(
-      transform.transform.translation.x,
-      transform.transform.translation.y,
-      transform.transform.translation.z));
-  TimePoint time_point(std::chrono::nanoseconds(transform.header.stamp.nanosec) +
-    std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::seconds(
-        transform.header.stamp.sec)));
-  return setTransformImpl(
-    tf2_transform, transform.header.frame_id, transform.child_frame_id,
-    time_point, authority, is_static);
-}
-
 bool BufferCore::setTransformImpl(
   const tf2::Transform & transform_in, const std::string frame_id,
   const std::string child_frame_id, const TimePoint stamp,
@@ -576,19 +559,21 @@ struct TransformAccum
   tf2::Vector3 result_vec;
 };
 
-geometry_msgs::msg::VelocityStamped BufferCore::lookupVelocity(
+tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> BufferCore::lookupVelocityTf2(
   const std::string & tracking_frame, const std::string & observation_frame,
   const TimePoint & time, const tf2::Duration & averaging_interval) const
 {
   // ref point is origin of tracking_frame, ref_frame = obs_frame
-  return lookupVelocity(
+  return lookupVelocityTf2(
     tracking_frame, observation_frame, observation_frame, tf2::Vector3(
       0, 0,
       0), tracking_frame, time,
     averaging_interval);
 }
 
-geometry_msgs::msg::VelocityStamped BufferCore::lookupVelocity(
+
+
+tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> BufferCore::lookupVelocityTf2(
   const std::string & tracking_frame, const std::string & observation_frame,
   const std::string & reference_frame, const tf2::Vector3 & reference_point,
   const std::string & reference_point_frame,
@@ -673,83 +658,39 @@ geometry_msgs::msg::VelocityStamped BufferCore::lookupVelocity(
   tf2::Vector3 delta = rp_desired - rp_orig;
   out_vel = out_vel + out_rot * delta;
 
-  std::chrono::nanoseconds ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    tf2::timeFromSec(start_time + averaging_interval_seconds * 0.5).time_since_epoch());
-  std::chrono::seconds s = std::chrono::duration_cast<std::chrono::seconds>(
-    tf2::timeFromSec(start_time + averaging_interval_seconds * 0.5).time_since_epoch());
-  geometry_msgs::msg::VelocityStamped velocity;
-  velocity.header.stamp.sec = static_cast<int32_t>(s.count());
-  velocity.header.stamp.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
-  velocity.header.frame_id = reference_frame;
-  velocity.body_frame_id = tracking_frame;
-
-  velocity.velocity.linear.x = out_vel.x();
-  velocity.velocity.linear.y = out_vel.y();
-  velocity.velocity.linear.z = out_vel.z();
-  velocity.velocity.angular.x = out_rot.x();
-  velocity.velocity.angular.y = out_rot.y();
-  velocity.velocity.angular.z = out_rot.z();
-
-  return velocity;
+  const tf2::TimePoint out_time = tf2::timeFromSec(start_time + averaging_interval_seconds * 0.5);
+
+  return tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>>(
+    {out_vel, out_rot}, out_time,
+    reference_frame);
 }
 
-geometry_msgs::msg::TransformStamped
-BufferCore::lookupTransform(
+tf2::Stamped<tf2::Transform>
+BufferCore::lookupTransformTf2(
   const std::string & target_frame, const std::string & source_frame,
   const TimePoint & time) const
 {
-  tf2::Transform transform;
-  TimePoint time_out;
-  lookupTransformImpl(target_frame, source_frame, time, transform, time_out);
-  geometry_msgs::msg::TransformStamped msg;
-  msg.transform.translation.x = transform.getOrigin().x();
-  msg.transform.translation.y = transform.getOrigin().y();
-  msg.transform.translation.z = transform.getOrigin().z();
-  msg.transform.rotation.x = transform.getRotation().x();
-  msg.transform.rotation.y = transform.getRotation().y();
-  msg.transform.rotation.z = transform.getRotation().z();
-  msg.transform.rotation.w = transform.getRotation().w();
-  std::chrono::nanoseconds ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    time_out.time_since_epoch());
-  std::chrono::seconds s = std::chrono::duration_cast<std::chrono::seconds>(
-    time_out.time_since_epoch());
-  msg.header.stamp.sec = static_cast<int32_t>(s.count());
-  msg.header.stamp.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
-  msg.header.frame_id = target_frame;
-  msg.child_frame_id = source_frame;
-
-  return msg;
+  tf2::Stamped<tf2::Transform> stamped_transform;
+  lookupTransformImpl(
+    target_frame, source_frame, time, stamped_transform,
+    stamped_transform.stamp_);
+  stamped_transform.frame_id_ = target_frame;
+  return stamped_transform;
 }
 
-geometry_msgs::msg::TransformStamped
-BufferCore::lookupTransform(
+tf2::Stamped<tf2::Transform>
+BufferCore::lookupTransformTf2(
   const std::string & target_frame, const TimePoint & target_time,
   const std::string & source_frame, const TimePoint & source_time,
   const std::string & fixed_frame) const
 {
-  tf2::Transform transform;
-  TimePoint time_out;
+  tf2::Stamped<tf2::Transform> stamped_transform;
+
   lookupTransformImpl(
     target_frame, target_time, source_frame, source_time,
-    fixed_frame, transform, time_out);
-  geometry_msgs::msg::TransformStamped msg;
-  msg.transform.translation.x = transform.getOrigin().x();
-  msg.transform.translation.y = transform.getOrigin().y();
-  msg.transform.translation.z = transform.getOrigin().z();
-  msg.transform.rotation.x = transform.getRotation().x();
-  msg.transform.rotation.y = transform.getRotation().y();
-  msg.transform.rotation.z = transform.getRotation().z();
-  msg.transform.rotation.w = transform.getRotation().w();
-  std::chrono::nanoseconds ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    time_out.time_since_epoch());
-  std::chrono::seconds s = std::chrono::duration_cast<std::chrono::seconds>(
-    time_out.time_since_epoch());
-  msg.header.stamp.sec = static_cast<int32_t>(s.count());
-  msg.header.stamp.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
-  msg.header.frame_id = target_frame;
-  msg.child_frame_id = source_frame;
-
-  return msg;
+    fixed_frame, stamped_transform, stamped_transform.stamp_);
+
+  return stamped_transform;
 }
 
 void BufferCore::lookupTransformImpl(
diff --git a/tf2/src/time.cpp b/tf2/src/time.cpp
index dfa09b128..e9732bf61 100644
--- a/tf2/src/time.cpp
+++ b/tf2/src/time.cpp
@@ -31,9 +31,7 @@
 #include <chrono>
 #include <stdexcept>
 #include <string>
-
-#include "rcutils/snprintf.h"
-#include "rcutils/strerror.h"
+#include <sstream>
 #include "tf2/time.h"
 
 tf2::TimePoint tf2::get_now()
@@ -79,31 +77,9 @@ double tf2::timeToSec(const tf2::TimePoint & timepoint)
 
 std::string tf2::displayTimePoint(const tf2::TimePoint & stamp)
 {
-  const char * format_str = "%.6f";
   double current_time = tf2::timeToSec(stamp);
-
-  // Determine how many bytes to allocate for the string. If successful, buff_size does not count
-  // null terminating character. http://www.cplusplus.com/reference/cstdio/snprintf/
-  int buff_size = rcutils_snprintf(nullptr, 0, format_str, current_time);
-  if (buff_size < 0) {
-    char errmsg[200];
-    rcutils_strerror(errmsg, sizeof(errmsg));
-    throw std::runtime_error(errmsg);
-  }
-
-  // Increase by one for null-terminating character
-  ++buff_size;
-  char * buffer = new char[buff_size];
-
-  // Write to the string. buffer size must accommodate the null-terminating character
-  int bytes_written = rcutils_snprintf(buffer, buff_size, format_str, current_time);
-  if (bytes_written < 0) {
-    delete[] buffer;
-    char errmsg[200];
-    rcutils_strerror(errmsg, sizeof(errmsg));
-    throw std::runtime_error(errmsg);
-  }
-  std::string result = std::string(buffer);
-  delete[] buffer;
-  return result;
+  std::ostringstream out;
+  out.precision(6);
+  out << std::fixed << current_time;
+  return std::move(out).str();
 }
diff --git a/tf2/test/cache_benchmark.cpp b/tf2/test/cache_benchmark.cpp
index af7241f08..5ad8b3189 100644
--- a/tf2/test/cache_benchmark.cpp
+++ b/tf2/test/cache_benchmark.cpp
@@ -74,10 +74,10 @@ static void benchmark_insertion(benchmark::State & state)
   // First, fill the cache with max storage amount (the limit).
   tf2::TimeCache fill_cache(max_storage_time);
   const auto [fill_timestamp, fill_timestep] = insert_data(
-      fill_cache,
-      tf2::TimePointZero,
-      0,
-      tf2::TimePointZero + max_storage_time);
+    fill_cache,
+    tf2::TimePointZero,
+    0,
+    tf2::TimePointZero + max_storage_time);
 
   // Now profile adding new data to the copied cache.
   const tf2::TimePoint target_timestamp = fill_timestamp + max_storage_time;
@@ -88,10 +88,10 @@ static void benchmark_insertion(benchmark::State & state)
     state.ResumeTiming();
 
     insert_data(
-        cache,
-        fill_timestamp,
-        fill_timestep,
-        target_timestamp);
+      cache,
+      fill_timestamp,
+      fill_timestep,
+      target_timestamp);
   }
 }
 
diff --git a/tf2/test/cache_unittest.cpp b/tf2/test/cache_unittest.cpp
index e00aa0c10..91069f7a3 100644
--- a/tf2/test/cache_unittest.cpp
+++ b/tf2/test/cache_unittest.cpp
@@ -137,8 +137,8 @@ TEST(TimeCache, GetAllItems)
   // Note that the difference between the oldest and newest timestamp is exactly equal
   // to the max storage duration.
   EXPECT_EQ(
-      cache.getLatestTimestamp() - cache.getOldestTimestamp(),
-      max_storage_time);
+    cache.getLatestTimestamp() - cache.getOldestTimestamp(),
+    max_storage_time);
 
   // Expect that storage is descending.
   const std::list<tf2::TransformStorage> & storage_expected{
diff --git a/tf2/test/simple_tf2_core.cpp b/tf2/test/simple_tf2_core.cpp
index e2ec56c91..d02b5959c 100644
--- a/tf2/test/simple_tf2_core.cpp
+++ b/tf2/test/simple_tf2_core.cpp
@@ -36,7 +36,9 @@
 #include <vector>
 
 #include "builtin_interfaces/msg/time.hpp"
+#ifdef SHOULD_USE_TF2_VER
 #include "geometry_msgs/msg/transform_stamped.hpp"
+#endif
 
 #include "tf2/buffer_core.h"
 #include "tf2/convert.h"
@@ -44,6 +46,7 @@
 #include "tf2/exceptions.h"
 #include "tf2/time.h"
 
+#ifdef SHOULD_USE_TF2_VER
 TEST(tf2, setTransformFail)
 {
   tf2::BufferCore tfc;
@@ -137,13 +140,13 @@ TEST(tf2_lookupTransform, LookupException_Nothing_Exists)
         std::chrono::seconds(
           1))), tf2::LookupException);
 }
-
+#endif
 TEST(tf2_canTransform, Nothing_Exists)
 {
   tf2::BufferCore tfc;
   EXPECT_FALSE(tfc.canTransform("a", "b", tf2::TimePoint(std::chrono::seconds(1))));
 }
-
+#ifdef SHOULD_USE_TF2_VER
 TEST(tf2_lookupTransform, LookupException_One_Exists)
 {
   tf2::BufferCore tfc;
@@ -258,7 +261,7 @@ TEST(tf2_clear, LookUp_Static_Transfrom_Fail)
     auto trans = tfc.lookupTransform("foo", "bar", tf2::TimePoint(std::chrono::seconds(2)));
   );
 }
-
+#endif
 TEST(tf2_time, Display_Time_Point)
 {
   tf2::TimePoint t = tf2::get_now();
diff --git a/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp b/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp
index 061e076f6..93ae3230e 100644
--- a/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp
+++ b/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp
@@ -40,6 +40,8 @@
 #include "geometry_msgs/msg/point_stamped.hpp"
 #include "tf2_ros/buffer_interface.h"
 
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 #if (BT_BULLET_VERSION <= 282)
 // Suppress compilation warning on older versions of Bullet.
 // TODO(mjcarroll): Remove this when all platforms have the fix upstream.
@@ -86,7 +88,7 @@ void doTransform(
   t_out =
     tf2::Stamped<btVector3>(
     transformToBullet(transform) * t_in,
-    tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
+    tf2::fromMsg(transform.header.stamp), transform.header.frame_id);
 }
 
 /** \brief Convert a stamped Bullet Vector3 type to a PointStamped message.
@@ -98,7 +100,7 @@ inline
 geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<btVector3> & in)
 {
   geometry_msgs::msg::PointStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.point.x = in[0];
   msg.point.y = in[1];
@@ -114,7 +116,7 @@ geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<btVector3> & in)
 inline
 void fromMsg(const geometry_msgs::msg::PointStamped & msg, tf2::Stamped<btVector3> & out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   out[0] = static_cast<float>(msg.point.x);
   out[1] = static_cast<float>(msg.point.y);
@@ -137,7 +139,7 @@ void doTransform(
   t_out =
     tf2::Stamped<btTransform>(
     transformToBullet(transform) * t_in,
-    tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
+    tf2::fromMsg(transform.header.stamp), transform.header.frame_id);
 }
 
 
diff --git a/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp b/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
index da5ee6057..78567a291 100644
--- a/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
+++ b/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
@@ -39,8 +39,7 @@
 #include "geometry_msgs/msg/twist.hpp"
 
 #include "tf2/convert.h"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/buffer_interface.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace tf2
 {
@@ -247,7 +246,7 @@ void doTransform(
 {
   t_out = tf2::Stamped<Eigen::Vector3d>(
     transformToEigen(transform) * t_in,
-    tf2_ros::fromMsg(transform.header.stamp),
+    tf2::fromMsg(transform.header.stamp),
     transform.header.frame_id);
 }
 
@@ -260,7 +259,7 @@ inline
 geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<Eigen::Vector3d> & in)
 {
   geometry_msgs::msg::PointStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.point = toMsg(static_cast<const Eigen::Vector3d &>(in));
   return msg;
@@ -274,7 +273,7 @@ geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<Eigen::Vector3d> & in)
 inline
 void fromMsg(const geometry_msgs::msg::PointStamped & msg, tf2::Stamped<Eigen::Vector3d> & out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   fromMsg(msg.point, static_cast<Eigen::Vector3d &>(out));
 }
@@ -366,7 +365,7 @@ inline
 geometry_msgs::msg::QuaternionStamped toMsg(const Stamped<Eigen::Quaterniond> & in)
 {
   geometry_msgs::msg::QuaternionStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.quaternion = toMsg(static_cast<const Eigen::Quaterniond &>(in));
   return msg;
@@ -381,7 +380,7 @@ inline
 void fromMsg(const geometry_msgs::msg::QuaternionStamped & msg, Stamped<Eigen::Quaterniond> & out)
 {
   out.frame_id_ = msg.header.frame_id;
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   fromMsg(msg.quaternion, static_cast<Eigen::Quaterniond &>(out));
 }
 
@@ -399,7 +398,7 @@ void doTransform(
   const geometry_msgs::msg::TransformStamped & transform)
 {
   t_out.frame_id_ = transform.header.frame_id;
-  t_out.stamp_ = tf2_ros::fromMsg(transform.header.stamp);
+  t_out.stamp_ = tf2::fromMsg(transform.header.stamp);
   doTransform(
     static_cast<const Eigen::Quaterniond &>(t_in),
     static_cast<Eigen::Quaterniond &>(t_out), transform);
@@ -551,7 +550,7 @@ void doTransform(
   const geometry_msgs::msg::TransformStamped & transform)
 {
   t_out = tf2::Stamped<Eigen::Affine3d>(
-    transformToEigen(transform) * t_in, tf2_ros::fromMsg(
+    transformToEigen(transform) * t_in, tf2::fromMsg(
       transform.header.stamp), transform.header.frame_id);
 }
 
@@ -572,7 +571,7 @@ void doTransform(
   const geometry_msgs::msg::TransformStamped & transform)
 {
   t_out = tf2::Stamped<Eigen::Isometry3d>(
-    transformToEigen(transform) * t_in, tf2_ros::fromMsg(
+    transformToEigen(transform) * t_in, tf2::fromMsg(
       transform.header.stamp), transform.header.frame_id);
 }
 
@@ -585,7 +584,7 @@ inline
 geometry_msgs::msg::PoseStamped toMsg(const tf2::Stamped<Eigen::Affine3d> & in)
 {
   geometry_msgs::msg::PoseStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.pose = toMsg(static_cast<const Eigen::Affine3d &>(in));
   return msg;
@@ -595,7 +594,7 @@ inline
 geometry_msgs::msg::PoseStamped toMsg(const tf2::Stamped<Eigen::Isometry3d> & in)
 {
   geometry_msgs::msg::PoseStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.pose = toMsg(static_cast<const Eigen::Isometry3d &>(in));
   return msg;
@@ -609,7 +608,7 @@ geometry_msgs::msg::PoseStamped toMsg(const tf2::Stamped<Eigen::Isometry3d> & in
 inline
 void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<Eigen::Affine3d> & out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   fromMsg(msg.pose, static_cast<Eigen::Affine3d &>(out));
 }
@@ -617,7 +616,7 @@ void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<Eigen::Af
 inline
 void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<Eigen::Isometry3d> & out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   fromMsg(msg.pose, static_cast<Eigen::Isometry3d &>(out));
 }
diff --git a/tf2_eigen/package.xml b/tf2_eigen/package.xml
index 9f19a0ddc..2f0cd77c5 100644
--- a/tf2_eigen/package.xml
+++ b/tf2_eigen/package.xml
@@ -18,11 +18,12 @@
 
   <depend>geometry_msgs</depend>
   <depend>tf2</depend>
-  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>tf2_ros</test_depend>
 
   <build_export_depend>eigen</build_export_depend>
 
diff --git a/tf2_eigen/test/tf2_eigen-test.cpp b/tf2_eigen/test/tf2_eigen-test.cpp
index 7bd02a1ea..1bd044af8 100644
--- a/tf2_eigen/test/tf2_eigen-test.cpp
+++ b/tf2_eigen/test/tf2_eigen-test.cpp
@@ -176,7 +176,7 @@ struct EigenBufferTransform : public ::testing::Test
     t.transform.rotation.x = 1;
     t.transform.rotation.y = 0;
     t.transform.rotation.z = 0;
-    t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    t.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     t.header.frame_id = "A";
     t.child_frame_id = "B";
     tf_buffer->setTransform(t, "test");
diff --git a/tf2_eigen_kdl/CMakeLists.txt b/tf2_eigen_kdl/CMakeLists.txt
index 6f5431d26..d147d9634 100644
--- a/tf2_eigen_kdl/CMakeLists.txt
+++ b/tf2_eigen_kdl/CMakeLists.txt
@@ -19,6 +19,7 @@ endif()
 find_package(orocos_kdl_vendor REQUIRED)
 find_package(orocos_kdl REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
   src/tf2_eigen_kdl.cpp
@@ -28,7 +29,8 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
   orocos-kdl
-  tf2::tf2)
+  tf2::tf2
+  tf2_geometry_msgs::tf2_geometry_msgs)
 if(TARGET Eigen3::Eigen)
   # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
   target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
@@ -53,6 +55,7 @@ ament_export_dependencies(
   orocos_kdl_vendor
   orocos_kdl
   tf2
+  tf2_geometry_msgs
 )
 
 # Export old-style CMake variables
diff --git a/tf2_eigen_kdl/package.xml b/tf2_eigen_kdl/package.xml
index 122073222..fb5acf101 100644
--- a/tf2_eigen_kdl/package.xml
+++ b/tf2_eigen_kdl/package.xml
@@ -24,10 +24,11 @@
 
   <depend>orocos_kdl_vendor</depend>
   <depend>tf2</depend>
-
+  
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>tf2_geometry_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/tf2_eigen_kdl/test/tf2_eigen_kdl_test.cpp b/tf2_eigen_kdl/test/tf2_eigen_kdl_test.cpp
index 9e3608bfd..f042da140 100644
--- a/tf2_eigen_kdl/test/tf2_eigen_kdl_test.cpp
+++ b/tf2_eigen_kdl/test/tf2_eigen_kdl_test.cpp
@@ -34,6 +34,8 @@
 #include <tf2/convert.h>
 #include <gtest/gtest.h>
 
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
 using Vector6d = Eigen::Matrix<double, 6, 1>;
 
 TEST(TfEigenKdl, TestRotationQuaternion)
diff --git a/tf2_geometry_msgs/CMakeLists.txt b/tf2_geometry_msgs/CMakeLists.txt
index cb02e3382..474d8c27c 100644
--- a/tf2_geometry_msgs/CMakeLists.txt
+++ b/tf2_geometry_msgs/CMakeLists.txt
@@ -27,6 +27,7 @@ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 
+find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(orocos_kdl_vendor REQUIRED)
 find_package(orocos_kdl REQUIRED)
@@ -42,9 +43,11 @@ target_include_directories(${PROJECT_NAME} INTERFACE
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} INTERFACE
   ${geometry_msgs_TARGETS}
+  ${builtin_interfaces_TARGETS}
   orocos-kdl
   tf2::tf2
-  tf2_ros::tf2_ros)
+  #tf2_ros::tf2_ros
+  )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -82,6 +85,7 @@ ament_export_dependencies(
   "orocos_kdl_vendor"
   "orocos_kdl"
   "tf2"
-  "tf2_ros")
+  #"tf2_ros"
+  )
 
 ament_package()
diff --git a/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp b/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
index 2a60fa3ae..874396f9d 100644
--- a/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
+++ b/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
@@ -57,11 +57,82 @@
 #include "tf2/LinearMath/Quaternion.h"
 #include "tf2/LinearMath/Transform.h"
 #include "tf2/LinearMath/Vector3.h"
-#include "tf2_ros/buffer_interface.h"
+
+#include "builtin_interfaces/msg/time.hpp"
+#include "builtin_interfaces/msg/duration.hpp"
+
 
 namespace tf2
 {
 
+/**\brief The templated function expected to be able to do a transform
+ *
+ * This is the method which tf2 will use to try to apply a transform for any given datatype.
+ * \param data_in[in] The data to be transformed.
+ * \param data_out[inout] A reference to the output data. Note this can point to data in and the method should be mutation safe.
+ * \param transform[in] The transform to apply to data_in to fill data_out.
+ *
+ * This method needs to be implemented by client library developers
+ */
+template<class T>
+void doTransform(
+  const T & data_in, T & data_out,
+  const geometry_msgs::msg::TransformStamped & transform);
+
+/**\brief Function that converts any type to any type (messages or not).
+ * Matching toMsg and from Msg conversion functions need to exist.
+ * If they don't exist or do not apply (for example, if your two
+ * classes are ROS messages), just write a specialization of the function.
+ * \param a an object to convert from
+ * \param b the object to convert to
+ */
+template<class A, class B>
+void convert(const A & a, B & b)
+{
+  impl::Converter<rosidl_generator_traits::is_message<A>::value,
+    rosidl_generator_traits::is_message<B>::value>::convert(a, b);
+}
+
+
+// TODO: move to the proper place below
+inline builtin_interfaces::msg::Time toMsg(const tf2::TimePoint & t)
+{
+  std::chrono::nanoseconds ns =
+    std::chrono::duration_cast<std::chrono::nanoseconds>(t.time_since_epoch());
+  std::chrono::seconds s =
+    std::chrono::duration_cast<std::chrono::seconds>(t.time_since_epoch());
+  builtin_interfaces::msg::Time time_msg;
+  time_msg.sec = static_cast<int32_t>(s.count());
+  time_msg.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
+  return time_msg;
+}
+
+inline tf2::TimePoint fromMsg(const builtin_interfaces::msg::Time & time_msg)
+{
+  int64_t d = time_msg.sec * 1000000000ull + time_msg.nanosec;
+  std::chrono::nanoseconds ns(d);
+  return tf2::TimePoint(std::chrono::duration_cast<tf2::Duration>(ns));
+}
+
+inline builtin_interfaces::msg::Duration toMsg(const tf2::Duration & t)
+{
+  std::chrono::nanoseconds ns =
+    std::chrono::duration_cast<std::chrono::nanoseconds>(t);
+  std::chrono::seconds s =
+    std::chrono::duration_cast<std::chrono::seconds>(t);
+  builtin_interfaces::msg::Duration duration_msg;
+  duration_msg.sec = static_cast<int32_t>(s.count());
+  duration_msg.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
+  return duration_msg;
+}
+
+inline tf2::Duration fromMsg(const builtin_interfaces::msg::Duration & duration_msg)
+{
+  int64_t d = duration_msg.sec * 1000000000ull + duration_msg.nanosec;
+  std::chrono::nanoseconds ns(d);
+  return tf2::Duration(std::chrono::duration_cast<tf2::Duration>(ns));
+}
+
 /** \brief Convert a TransformStamped message to a KDL frame.
  * \param t TransformStamped message to convert.
  * \return The converted KDL Frame.
@@ -140,7 +211,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::Vector3Stamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a Vector message.
@@ -307,7 +378,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::PointStamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a Point message.
@@ -380,7 +451,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::PoseStamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a Pose message.
@@ -508,7 +579,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::PolygonStamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a PolygonStamped message.
@@ -753,7 +824,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::PoseWithCovarianceStamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a Pose message.
@@ -850,7 +921,7 @@ geometry_msgs::msg::PoseWithCovarianceStamped toMsg(
   const tf2::WithCovarianceStamped<tf2::Transform> & in)
 {
   geometry_msgs::msg::PoseWithCovarianceStamped out;
-  out.header.stamp = tf2_ros::toMsg(in.stamp_);
+  out.header.stamp = toMsg(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.pose.covariance = covarianceNestedToRowMajor(in.cov_mat_);
   out.pose.pose.orientation.x = in.getRotation().getX();
@@ -874,7 +945,7 @@ void fromMsg(
   const geometry_msgs::msg::PoseWithCovarianceStamped & in,
   tf2::WithCovarianceStamped<tf2::Transform> & out)
 {
-  out.stamp_ = tf2_ros::fromMsg(in.header.stamp);
+  out.stamp_ = fromMsg(in.header.stamp);
   out.frame_id_ = in.header.frame_id;
   out.cov_mat_ = covarianceRowMajorToNested(in.pose.covariance);
   tf2::Transform tmp;
@@ -952,7 +1023,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::QuaternionStamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a Quaternion message.
@@ -1022,7 +1093,7 @@ inline
 geometry_msgs::msg::QuaternionStamped toMsg(const tf2::Stamped<tf2::Quaternion> & in)
 {
   geometry_msgs::msg::QuaternionStamped out;
-  out.header.stamp = tf2_ros::toMsg(in.stamp_);
+  out.header.stamp = toMsg(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.quaternion.w = in.getW();
   out.quaternion.x = in.getX();
@@ -1039,7 +1110,7 @@ geometry_msgs::msg::QuaternionStamped toMsg(const tf2::Stamped<tf2::Quaternion>
 inline
 void fromMsg(const geometry_msgs::msg::QuaternionStamped & in, tf2::Stamped<tf2::Quaternion> & out)
 {
-  out.stamp_ = tf2_ros::fromMsg(in.header.stamp);
+  out.stamp_ = fromMsg(in.header.stamp);
   out.frame_id_ = in.header.frame_id;
   tf2::Quaternion tmp;
   fromMsg(in.quaternion, tmp);
@@ -1133,7 +1204,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::TransformStamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a Transform message.
@@ -1210,7 +1281,7 @@ void fromMsg(
 inline
 void fromMsg(const geometry_msgs::msg::TransformStamped & in, tf2::Stamped<tf2::Transform> & out)
 {
-  out.stamp_ = tf2_ros::fromMsg(in.header.stamp);
+  out.stamp_ = fromMsg(in.header.stamp);
   out.frame_id_ = in.header.frame_id;
   tf2::Transform tmp;
   fromMsg(in.transform, tmp);
@@ -1226,7 +1297,7 @@ inline
 geometry_msgs::msg::TransformStamped toMsg(const tf2::Stamped<tf2::Transform> & in)
 {
   geometry_msgs::msg::TransformStamped out;
-  out.header.stamp = tf2_ros::toMsg(in.stamp_);
+  out.header.stamp = toMsg(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.transform.translation.x = in.getOrigin().getX();
   out.transform.translation.y = in.getOrigin().getY();
@@ -1389,7 +1460,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const geometry_msgs::msg::WrenchStamped & t)
 {
-  return tf2_ros::fromMsg(t.header.stamp);
+  return fromMsg(t.header.stamp);
 }
 
 /** \brief Extract a frame ID from the header of a Wrench message.
diff --git a/tf2_geometry_msgs/package.xml b/tf2_geometry_msgs/package.xml
index 406c465f3..fda1f7cc4 100644
--- a/tf2_geometry_msgs/package.xml
+++ b/tf2_geometry_msgs/package.xml
@@ -19,10 +19,10 @@
   <depend>geometry_msgs</depend>
   <depend>orocos_kdl_vendor</depend>
   <depend>tf2</depend>
-  <depend>tf2_ros</depend>
 
   <exec_depend>python3-numpy</exec_depend>
-  <exec_depend>tf2_ros_py</exec_depend>
+  <!-- TODO: fixme -->
+  <!-- <exec_depend>tf2_ros_py</exec_depend> -->
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
diff --git a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
index 069965a0c..39d4eb908 100644
--- a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
+++ b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
@@ -43,12 +43,13 @@
 
 #include "rclcpp/clock.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
 
 #include <geometry_msgs/msg/velocity_stamped.hpp>
 
-std::unique_ptr<tf2_ros::Buffer> tf_buffer = nullptr;
+#include <tf2/buffer_core.h>
+
+
+std::unique_ptr<tf2::BufferCore> tf_buffer = nullptr;
 static const double EPS = 1e-3;
 
 geometry_msgs::msg::TransformStamped generate_stamped_transform()
@@ -61,12 +62,13 @@ geometry_msgs::msg::TransformStamped generate_stamped_transform()
   t.transform.rotation.x = 1;
   t.transform.rotation.y = 0;
   t.transform.rotation.z = 0;
-  t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+  t.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
   t.header.frame_id = "A";
   t.child_frame_id = "B";
   return t;
 }
 
+#if MAKE_BARE_TRANSFORM_WORK_IN_TEST
 TEST(TfGeometry, Conversions)
 {
   // Quaternion
@@ -211,7 +213,7 @@ TEST(TfGeometry, Frame)
     v1.pose.orientation.x = 1;
     v1.pose.orientation.y = 0;
     v1.pose.orientation.z = 0;
-    v1.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    v1.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     v1.header.frame_id = "A";
 
     // simple api
@@ -292,7 +294,7 @@ TEST(TfGeometry, FrameWithCovariance)
     v1.pose.pose.orientation.x = 1;
     v1.pose.pose.orientation.y = 0;
     v1.pose.pose.orientation.z = 0;
-    v1.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    v1.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     v1.header.frame_id = "A";
     v1.pose.covariance = {
       1.0, 2.0, 3.0, 4.0, 5.0, 6.0,
@@ -362,7 +364,7 @@ TEST(TfGeometry, Vector)
     v1.vector.x = 1;
     v1.vector.y = 2;
     v1.vector.z = 3;
-    v1.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    v1.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     v1.header.frame_id = "A";
 
     // simple api
@@ -420,7 +422,7 @@ TEST(TfGeometry, Point)
     v1.point.x = 1;
     v1.point.y = 2;
     v1.point.z = 3;
-    v1.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    v1.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     v1.header.frame_id = "A";
 
     // simple api
@@ -466,7 +468,7 @@ TEST(TfGeometry, Polygon)
     p.y = 2;
     p.z = 3;
     v1.polygon.points.push_back(p);
-    v1.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    v1.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     v1.header.frame_id = "A";
 
     // simple api
@@ -516,7 +518,7 @@ TEST(TfGeometry, Quaternion)
     q1.quaternion.y = -1 * M_SQRT1_2;
     q1.quaternion.z = 0;
     q1.quaternion.w = M_SQRT1_2;
-    q1.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    q1.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     q1.header.frame_id = "A";
 
     // simple api
@@ -574,7 +576,7 @@ TEST(TfGeometry, Transform)
     v1.transform.rotation.x = 1;
     v1.transform.rotation.y = 0;
     v1.transform.rotation.z = 0;
-    v1.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
+    v1.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
     v1.header.frame_id = "A";
 
     // simple api
@@ -638,18 +640,20 @@ TEST(TfGeometry, Velocity)
   tf2::doTransform(v1, res, trafo);
 }
 
+#endif
+
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);
-
+#if FIX_CLOCK_DEP_IN_TEST
   rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
-  tf_buffer = std::make_unique<tf2_ros::Buffer>(clock);
+  tf_buffer = std::make_unique<tf2::BufferCore>(clock);
   tf_buffer->setUsingDedicatedThread(true);
 
   // populate buffer
   geometry_msgs::msg::TransformStamped t = generate_stamped_transform();
   tf_buffer->setTransform(t, "test");
-
+#endif
   int ret = RUN_ALL_TESTS();
   return ret;
 }
diff --git a/tf2_kdl/include/tf2_kdl/tf2_kdl.hpp b/tf2_kdl/include/tf2_kdl/tf2_kdl.hpp
index b183b564b..4da792746 100644
--- a/tf2_kdl/include/tf2_kdl/tf2_kdl.hpp
+++ b/tf2_kdl/include/tf2_kdl/tf2_kdl.hpp
@@ -43,6 +43,8 @@
 #include <builtin_interfaces/msg/time.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
 namespace tf2
 {
 /** \brief Convert a timestamped transform to the equivalent KDL data type.
@@ -85,7 +87,7 @@ template <>
 inline
   void doTransform(const tf2::Stamped<KDL::Vector>& t_in, tf2::Stamped<KDL::Vector>& t_out, const geometry_msgs::msg::TransformStamped& transform)
   {
-    t_out = tf2::Stamped<KDL::Vector>(transformToKDL(transform) * t_in, tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
+    t_out = tf2::Stamped<KDL::Vector>(transformToKDL(transform) * t_in, tf2::fromMsg(transform.header.stamp), transform.header.frame_id);
   }
 
 /** \brief Convert a stamped KDL Vector type to a PointStamped message.
@@ -97,7 +99,7 @@ inline
 geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<KDL::Vector>& in)
 {
   geometry_msgs::msg::PointStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.point.x = in[0];
   msg.point.y = in[1];
@@ -113,7 +115,7 @@ geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<KDL::Vector>& in)
 inline
 void fromMsg(const geometry_msgs::msg::PointStamped& msg, tf2::Stamped<KDL::Vector>& out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   out[0] = msg.point.x;
   out[1] = msg.point.y;
@@ -133,7 +135,7 @@ template <>
 inline
   void doTransform(const tf2::Stamped<KDL::Twist>& t_in, tf2::Stamped<KDL::Twist>& t_out, const geometry_msgs::msg::TransformStamped& transform)
   {
-    t_out = tf2::Stamped<KDL::Twist>(transformToKDL(transform) * t_in, tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
+    t_out = tf2::Stamped<KDL::Twist>(transformToKDL(transform) * t_in, tf2::fromMsg(transform.header.stamp), transform.header.frame_id);
   }
 
 /** \brief Convert a stamped KDL Twist type to a TwistStamped message.
@@ -145,7 +147,7 @@ inline
 geometry_msgs::msg::TwistStamped toMsg(const tf2::Stamped<KDL::Twist>& in)
 {
   geometry_msgs::msg::TwistStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.twist.linear.x = in.vel[0];
   msg.twist.linear.y = in.vel[1];
@@ -164,7 +166,7 @@ geometry_msgs::msg::TwistStamped toMsg(const tf2::Stamped<KDL::Twist>& in)
 inline
 void fromMsg(const geometry_msgs::msg::TwistStamped& msg, tf2::Stamped<KDL::Twist>& out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   out.vel[0] = msg.twist.linear.x;
   out.vel[1] = msg.twist.linear.y;
@@ -188,7 +190,7 @@ template <>
 inline
   void doTransform(const tf2::Stamped<KDL::Wrench>& t_in, tf2::Stamped<KDL::Wrench>& t_out, const geometry_msgs::msg::TransformStamped& transform)
   {
-    t_out = tf2::Stamped<KDL::Wrench>(transformToKDL(transform) * t_in,  tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
+    t_out = tf2::Stamped<KDL::Wrench>(transformToKDL(transform) * t_in,  tf2::fromMsg(transform.header.stamp), transform.header.frame_id);
   }
 
 /** \brief Convert a stamped KDL Wrench type to a WrenchStamped message.
@@ -200,7 +202,7 @@ inline
 geometry_msgs::msg::WrenchStamped toMsg(const tf2::Stamped<KDL::Wrench>& in)
 {
   geometry_msgs::msg::WrenchStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.wrench.force.x = in.force[0];
   msg.wrench.force.y = in.force[1];
@@ -219,7 +221,7 @@ geometry_msgs::msg::WrenchStamped toMsg(const tf2::Stamped<KDL::Wrench>& in)
 inline
 void fromMsg(const geometry_msgs::msg::WrenchStamped& msg, tf2::Stamped<KDL::Wrench>& out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   out.force[0] = msg.wrench.force.x;
   out.force[1] = msg.wrench.force.y;
@@ -245,7 +247,7 @@ template <>
 inline
   void doTransform(const tf2::Stamped<KDL::Frame>& t_in, tf2::Stamped<KDL::Frame>& t_out, const geometry_msgs::msg::TransformStamped& transform)
   {
-    t_out = tf2::Stamped<KDL::Frame>(transformToKDL(transform) * t_in,  tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
+    t_out = tf2::Stamped<KDL::Frame>(transformToKDL(transform) * t_in,  tf2::fromMsg(transform.header.stamp), transform.header.frame_id);
   }
 
 /** \brief Convert a stamped KDL Frame type to a Pose message.
@@ -287,7 +289,7 @@ inline
 geometry_msgs::msg::PoseStamped toMsg(const tf2::Stamped<KDL::Frame>& in)
 {
   geometry_msgs::msg::PoseStamped msg;
-  msg.header.stamp = tf2_ros::toMsg(in.stamp_);
+  msg.header.stamp = tf2::toMsg(in.stamp_);
   msg.header.frame_id = in.frame_id_;
   msg.pose = toMsg(static_cast<const KDL::Frame&>(in));
   return msg;
@@ -301,7 +303,7 @@ geometry_msgs::msg::PoseStamped toMsg(const tf2::Stamped<KDL::Frame>& in)
 inline
 void fromMsg(const geometry_msgs::msg::PoseStamped& msg, tf2::Stamped<KDL::Frame>& out)
 {
-  out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
+  out.stamp_ = tf2::fromMsg(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   fromMsg(msg.pose, static_cast<KDL::Frame&>(out));
 }
diff --git a/tf2_py/CMakeLists.txt b/tf2_py/CMakeLists.txt
index 2ab38f870..c30f2c609 100644
--- a/tf2_py/CMakeLists.txt
+++ b/tf2_py/CMakeLists.txt
@@ -41,7 +41,7 @@ find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
@@ -63,6 +63,7 @@ set_target_properties(_tf2_py PROPERTIES
 target_link_libraries(_tf2_py PRIVATE
   ${geometry_msgs_TARGETS}
   tf2::tf2
+  tf2_ros::tf2_ros
 )
 
 install(TARGETS
diff --git a/tf2_py/package.xml b/tf2_py/package.xml
index a2ecdc2de..6c5cdfb0b 100644
--- a/tf2_py/package.xml
+++ b/tf2_py/package.xml
@@ -17,7 +17,7 @@
 
   <build_depend>geometry_msgs</build_depend>
 
-  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
 
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
diff --git a/tf2_py/src/tf2_py.cpp b/tf2_py/src/tf2_py.cpp
index ab6c2b3ce..39710d8b7 100644
--- a/tf2_py/src/tf2_py.cpp
+++ b/tf2_py/src/tf2_py.cpp
@@ -3,6 +3,8 @@
 #include <tf2/buffer_core.h>
 #include <tf2/exceptions.h>
 
+#include <tf2_ros/buffer.h>
+
 #include <string>
 #include <vector>
 
@@ -105,7 +107,7 @@ static PyObject * tf2_connectivityexception = nullptr, * tf2_lookupexception = n
 struct buffer_core_t
 {
   PyObject_HEAD
-  tf2::BufferCore * bc;
+  tf2_ros::BufferCoreROSConversions * bc;
 };
 
 static PyObject * transform_converter(const geometry_msgs::msg::TransformStamped * transform)
@@ -381,7 +383,7 @@ static int BufferCore_init(PyObject * self, PyObject * args, PyObject * kw)
     return -1;
   }
 
-  reinterpret_cast<buffer_core_t *>(self)->bc = new tf2::BufferCore(cache_time);
+  reinterpret_cast<buffer_core_t *>(self)->bc = new tf2_ros::BufferCoreROSConversions(cache_time);
 
   return 0;
 }
@@ -404,20 +406,20 @@ static void BufferCore_finalize(PyObject * self)
 static PyObject * allFramesAsYAML(PyObject * self, PyObject * args)
 {
   (void)args;
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   return stringToPython(bc->allFramesAsYAML());
 }
 
 static PyObject * allFramesAsString(PyObject * self, PyObject * args)
 {
   (void)args;
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   return stringToPython(bc->allFramesAsString());
 }
 
 static PyObject * canTransformCore(PyObject * self, PyObject * args, PyObject * kw)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   char * target_frame, * source_frame;
   tf2::TimePoint time;
   static const char * keywords[] = {"target_frame", "source_frame", "time", nullptr};
@@ -437,7 +439,7 @@ static PyObject * canTransformCore(PyObject * self, PyObject * args, PyObject *
 
 static PyObject * canTransformFullCore(PyObject * self, PyObject * args, PyObject * kw)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   char * target_frame, * source_frame, * fixed_frame;
   tf2::TimePoint target_time, source_time;
   static const char * keywords[] =
@@ -477,7 +479,7 @@ static PyObject * asListOfStrings(std::vector<std::string> los)
 
 static PyObject * _chain(PyObject * self, PyObject * args, PyObject * kw)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   char * target_frame, * source_frame, * fixed_frame;
   tf2::TimePoint target_time, source_time;
   std::vector<std::string> output;
@@ -507,7 +509,7 @@ static PyObject * _chain(PyObject * self, PyObject * args, PyObject * kw)
 
 static PyObject * getLatestCommonTime(PyObject * self, PyObject * args)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   char * target_frame, * source_frame;
   tf2::CompactFrameID target_id, source_id;
   tf2::TimePoint tf2_time;
@@ -578,7 +580,7 @@ static PyObject * getLatestCommonTime(PyObject * self, PyObject * args)
 
 static PyObject * lookupTransformCore(PyObject * self, PyObject * args, PyObject * kw)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   char * target_frame, * source_frame;
   tf2::TimePoint time;
   static const char * keywords[] = {"target_frame", "source_frame", "time", nullptr};
@@ -601,7 +603,7 @@ static PyObject * lookupTransformCore(PyObject * self, PyObject * args, PyObject
 
 static PyObject * lookupTransformFullCore(PyObject * self, PyObject * args, PyObject * kw)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   char * target_frame, * source_frame, * fixed_frame;
   tf2::TimePoint target_time, source_time;
   static const char * keywords[] =
@@ -630,7 +632,7 @@ static PyObject * lookupTransformFullCore(PyObject * self, PyObject * args, PyOb
 
 static PyObject * lookupVelocityCore(PyObject * self, PyObject * args, PyObject * kw)
 {
-  tf2::BufferCore * bc = ((buffer_core_t *)self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = ((buffer_core_t *)self)->bc;
   char * tracking_frame, * observation_frame;
   tf2::TimePoint time;
   tf2::Duration averaging_interval;
@@ -658,7 +660,7 @@ static PyObject * lookupVelocityCore(PyObject * self, PyObject * args, PyObject
 
 static PyObject * lookupVelocityFullCore(PyObject * self, PyObject * args)
 {
-  tf2::BufferCore * bc = ((buffer_core_t *)self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = ((buffer_core_t *)self)->bc;
   char * tracking_frame, * observation_frame, * reference_frame, * reference_point_frame;
   tf2::TimePoint time;
   tf2::Duration averaging_interval;
@@ -737,7 +739,7 @@ static inline int checkRotationType(PyObject * o)
 static PyObject * setTransform(PyObject * self, PyObject * args)
 {
   PyObject * ret = nullptr;
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   PyObject * py_transform;
   char * authority;
   tf2::TimePoint time;
@@ -882,7 +884,7 @@ static PyObject * setTransform(PyObject * self, PyObject * args)
 static PyObject * setTransformStatic(PyObject * self, PyObject * args)
 {
   PyObject * ret = nullptr;
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   PyObject * py_transform;
   char * authority;
   tf2::TimePoint time;
@@ -1020,14 +1022,14 @@ static PyObject * setTransformStatic(PyObject * self, PyObject * args)
 static PyObject * clear(PyObject * self, PyObject * args)
 {
   (void)args;
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   bc->clear();
   Py_RETURN_NONE;
 }
 
 static PyObject * _frameExists(PyObject * self, PyObject * args)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   char * frame_id_str;
   if (!PyArg_ParseTuple(args, "s", &frame_id_str)) {
     return nullptr;
@@ -1038,7 +1040,7 @@ static PyObject * _frameExists(PyObject * self, PyObject * args)
 static PyObject * _getFrameStrings(PyObject * self, PyObject * args)
 {
   (void)args;
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   std::vector<std::string> ids;
   bc->_getFrameStrings(ids);
   return asListOfStrings(ids);
@@ -1046,7 +1048,7 @@ static PyObject * _getFrameStrings(PyObject * self, PyObject * args)
 
 static PyObject * _allFramesAsDot(PyObject * self, PyObject * args, PyObject * kw)
 {
-  tf2::BufferCore * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
+  tf2_ros::BufferCoreROSConversions * bc = reinterpret_cast<buffer_core_t *>(self)->bc;
   static const char * keywords[] = {"time", nullptr};
   tf2::TimePoint time;
   if (!PyArg_ParseTupleAndKeywords(
diff --git a/tf2_ros/CMakeLists.txt b/tf2_ros/CMakeLists.txt
index 98aa08115..976640a10 100644
--- a/tf2_ros/CMakeLists.txt
+++ b/tf2_ros/CMakeLists.txt
@@ -20,6 +20,7 @@ find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
 # tf2_ros library
 add_library(${PROJECT_NAME} SHARED
@@ -41,6 +42,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   rclcpp::rclcpp
   rclcpp_action::rclcpp_action
   tf2::tf2
+  tf2_geometry_msgs::tf2_geometry_msgs
   ${tf2_msgs_TARGETS})
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE "TF2_ROS_BUILDING_DLL")
@@ -238,5 +240,6 @@ ament_export_dependencies(
   rclcpp_action
   tf2
   tf2_msgs
+  tf2_geometry_msgs
 )
 ament_package()
diff --git a/tf2_ros/include/tf2_ros/buffer.h b/tf2_ros/include/tf2_ros/buffer.h
index 13571fa9b..c65bcf5b4 100644
--- a/tf2_ros/include/tf2_ros/buffer.h
+++ b/tf2_ros/include/tf2_ros/buffer.h
@@ -47,6 +47,7 @@
 #include "tf2/time.h"
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
+#include "geometry_msgs/msg/velocity_stamped.hpp"
 #include "tf2_msgs/srv/frame_graph.hpp"
 #include "rclcpp/node_interfaces/get_node_base_interface.hpp"
 #include "rclcpp/node_interfaces/get_node_services_interface.hpp"
@@ -57,16 +58,159 @@
 namespace tf2_ros
 {
 
+// Needed for BufferServer - unfortunately introduces virtual inheritance
+class BufferCoreROSConversionsInterface : virtual public tf2::BufferCoreInterface {
+public:
+/**
+   * \brief Get the transform between two frames by frame ID.
+   * \param target_frame The frame to which data should be transformed.
+   * \param source_frame The frame where the data originated.
+   * \param time The time at which the value of the transform is desired (0 will get the latest).
+   * \return The transform between the frames as a ROS type.
+   */
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::TransformStamped
+  lookupTransform(
+    const std::string & target_frame,
+    const std::string & source_frame,
+    const tf2::TimePoint & time) const = 0;
+
+  /**
+   * \brief Get the transform between two frames by frame ID assuming fixed frame.
+   * \param target_frame The frame to which data should be transformed.
+   * \param target_time The time to which the data should be transformed (0 will get the latest).
+   * \param source_frame The frame where the data originated.
+   * \param source_time The time at which the source_frame should be evaluated
+   *   (0 will get the latest).
+   * \param fixed_frame The frame in which to assume the transform is constant in time.
+   * \return The transform between the frames as a ROS type.
+   */
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::TransformStamped
+  lookupTransform(
+    const std::string & target_frame,
+    const tf2::TimePoint & target_time,
+    const std::string & source_frame,
+    const tf2::TimePoint & source_time,
+    const std::string & fixed_frame) const = 0;
+
+  /** \brief Add transform information to the tf data structure
+   * \param transform The transform to store
+   * \param authority The source of the information for this transform
+   * \param is_static Record this transform as a static transform.  It will be good across all time.  (This cannot be changed after the first call.)
+   * \return True unless an error occured
+   */
+  TF2_PUBLIC
+  virtual bool setTransform(
+    const geometry_msgs::msg::TransformStamped & transform,
+    const std::string & authority, bool is_static = false) = 0;
+
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::VelocityStamped lookupVelocity(
+    const std::string & tracking_frame, const std::string & observation_frame,
+    const tf2::TimePoint & time, const tf2::Duration & averaging_interval) const = 0;
+
+  /** \brief Lookup the velocity of the moving_frame in the reference_frame
+   * \param reference_frame The frame in which to track
+   * \param moving_frame The frame to track
+   * \param time The time at which to get the velocity
+   * \param duration The period over which to average
+   * \param velocity The velocity output as a ROS type
+   *
+   * Possible exceptions TransformReference::LookupException, TransformReference::ConnectivityException,
+   * TransformReference::MaxDepthException
+   */
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::VelocityStamped lookupVelocity(
+    const std::string & tracking_frame, const std::string & observation_frame,
+    const std::string & reference_frame, const tf2::Vector3 & reference_point,
+    const std::string & reference_point_frame,
+    const tf2::TimePoint & time, const tf2::Duration & duration) const = 0;
+};
+
+class BufferCoreROSConversions : public tf2::BufferCore, public BufferCoreROSConversionsInterface {
+public:
+  // How does one use a using declaration on a constructor 
+  using BufferCore = tf2::BufferCore;
+  using BufferCore::BufferCore;
+/**
+   * \brief Get the transform between two frames by frame ID.
+   * \param target_frame The frame to which data should be transformed.
+   * \param source_frame The frame where the data originated.
+   * \param time The time at which the value of the transform is desired (0 will get the latest).
+   * \return The transform between the frames as a ROS type.
+   */
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::TransformStamped
+  lookupTransform(
+    const std::string & target_frame,
+    const std::string & source_frame,
+    const tf2::TimePoint & time) const override;
+
+  /**
+   * \brief Get the transform between two frames by frame ID assuming fixed frame.
+   * \param target_frame The frame to which data should be transformed.
+   * \param target_time The time to which the data should be transformed (0 will get the latest).
+   * \param source_frame The frame where the data originated.
+   * \param source_time The time at which the source_frame should be evaluated
+   *   (0 will get the latest).
+   * \param fixed_frame The frame in which to assume the transform is constant in time.
+   * \return The transform between the frames as a ROS type.
+   */
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::TransformStamped
+  lookupTransform(
+    const std::string & target_frame,
+    const tf2::TimePoint & target_time,
+    const std::string & source_frame,
+    const tf2::TimePoint & source_time,
+    const std::string & fixed_frame) const override;
+
+    
+  /** \brief Add transform information to the tf data structure
+   * \param transform The transform to store
+   * \param authority The source of the information for this transform
+   * \param is_static Record this transform as a static transform.  It will be good across all time.  (This cannot be changed after the first call.)
+   * \return True unless an error occured
+   */
+  TF2_PUBLIC
+  virtual bool setTransform(
+    const geometry_msgs::msg::TransformStamped & transform,
+    const std::string & authority, bool is_static = false) override;
+
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::VelocityStamped lookupVelocity(
+    const std::string & tracking_frame, const std::string & observation_frame,
+    const tf2::TimePoint & time, const tf2::Duration & averaging_interval) const override;
+
+  /** \brief Lookup the velocity of the moving_frame in the reference_frame
+   * \param reference_frame The frame in which to track
+   * \param moving_frame The frame to track
+   * \param time The time at which to get the velocity
+   * \param duration The period over which to average
+   * \param velocity The velocity output as a ROS type
+   *
+   * Possible exceptions TransformReference::LookupException, TransformReference::ConnectivityException,
+   * TransformReference::MaxDepthException
+   */
+  TF2_PUBLIC
+  virtual geometry_msgs::msg::VelocityStamped lookupVelocity(
+    const std::string & tracking_frame, const std::string & observation_frame,
+    const std::string & reference_frame, const tf2::Vector3 & reference_point,
+    const std::string & reference_point_frame,
+    const tf2::TimePoint & time, const tf2::Duration & duration) const override;
+};
+
 /** \brief Standard implementation of the tf2_ros::BufferInterface abstract data type.
  *
  * Inherits tf2_ros::BufferInterface and tf2::BufferCore.
  * Stores known frames and offers a ROS service, "tf_frames", which responds to client requests
  * with a response containing a tf2_msgs::FrameGraph representing the relationship of known frames.
  */
-class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::BufferCore
+class Buffer : public BufferCoreROSConversions, public BufferInterface, public AsyncBufferInterface
 {
 public:
-  using tf2::BufferCore::lookupTransform;
+  using BufferCoreROSConversions::lookupTransform;
   using tf2::BufferCore::canTransform;
   using SharedPtr = std::shared_ptr<tf2_ros::Buffer>;
 
@@ -82,7 +226,7 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
     tf2::Duration cache_time = tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME),
     NodeT && node = NodeT(),
     const rclcpp::QoS & qos = rclcpp::ServicesQoS())
-  : BufferCore(cache_time), clock_(clock), timer_interface_(nullptr)
+  : BufferCoreROSConversions(cache_time), clock_(clock), timer_interface_(nullptr)
   {
     if (nullptr == clock_) {
       throw std::invalid_argument("clock must be a valid instance");
diff --git a/tf2_ros/include/tf2_ros/buffer_interface.h b/tf2_ros/include/tf2_ros/buffer_interface.h
index 4f5e4c31f..5906e00f3 100644
--- a/tf2_ros/include/tf2_ros/buffer_interface.h
+++ b/tf2_ros/include/tf2_ros/buffer_interface.h
@@ -47,46 +47,10 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-namespace tf2_ros
-{
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
-inline builtin_interfaces::msg::Time toMsg(const tf2::TimePoint & t)
-{
-  std::chrono::nanoseconds ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(t.time_since_epoch());
-  std::chrono::seconds s =
-    std::chrono::duration_cast<std::chrono::seconds>(t.time_since_epoch());
-  builtin_interfaces::msg::Time time_msg;
-  time_msg.sec = static_cast<int32_t>(s.count());
-  time_msg.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
-  return time_msg;
-}
-
-inline tf2::TimePoint fromMsg(const builtin_interfaces::msg::Time & time_msg)
-{
-  int64_t d = time_msg.sec * 1000000000ull + time_msg.nanosec;
-  std::chrono::nanoseconds ns(d);
-  return tf2::TimePoint(std::chrono::duration_cast<tf2::Duration>(ns));
-}
-
-inline builtin_interfaces::msg::Duration toMsg(const tf2::Duration & t)
-{
-  std::chrono::nanoseconds ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(t);
-  std::chrono::seconds s =
-    std::chrono::duration_cast<std::chrono::seconds>(t);
-  builtin_interfaces::msg::Duration duration_msg;
-  duration_msg.sec = static_cast<int32_t>(s.count());
-  duration_msg.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
-  return duration_msg;
-}
-
-inline tf2::Duration fromMsg(const builtin_interfaces::msg::Duration & duration_msg)
+namespace tf2_ros
 {
-  int64_t d = duration_msg.sec * 1000000000ull + duration_msg.nanosec;
-  std::chrono::nanoseconds ns(d);
-  return tf2::Duration(std::chrono::duration_cast<tf2::Duration>(ns));
-}
 
 inline double timeToSec(const builtin_interfaces::msg::Time & time_msg)
 {
diff --git a/tf2_ros/include/tf2_ros/buffer_server.h b/tf2_ros/include/tf2_ros/buffer_server.h
index 14466691f..e26056db2 100644
--- a/tf2_ros/include/tf2_ros/buffer_server.h
+++ b/tf2_ros/include/tf2_ros/buffer_server.h
@@ -45,7 +45,7 @@
 #include <string>
 
 #include "tf2/time.h"
-#include "tf2/buffer_core_interface.h"
+#include "tf2_ros/buffer.h"
 #include "tf2_ros/visibility_control.h"
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
@@ -56,7 +56,7 @@
 
 namespace tf2_ros
 {
-/** \brief Action server for the action-based implementation of tf2::BufferCoreInterface.
+/** \brief Action server for the action-based implementation of tf2_ros::BufferCoreROSConversionsInterface.
  *
  * Use this class with a tf2_ros::TransformListener in the same process.
  * You can use this class with a tf2_ros::BufferClient in a different process.
@@ -75,7 +75,7 @@ class BufferServer
    */
   template<typename NodePtr>
   BufferServer(
-    const tf2::BufferCoreInterface & buffer,
+    const tf2_ros::BufferCoreROSConversionsInterface & buffer,
     NodePtr node,
     const std::string & ns,
     tf2::Duration check_period = tf2::durationFromSec(0.01))
@@ -120,7 +120,7 @@ class BufferServer
   TF2_ROS_PUBLIC
   geometry_msgs::msg::TransformStamped lookupTransform(GoalHandle gh);
 
-  const tf2::BufferCoreInterface & buffer_;
+  const tf2_ros::BufferCoreROSConversionsInterface & buffer_;
   rclcpp::Logger logger_;
   rclcpp_action::Server<LookupTransformAction>::SharedPtr server_;
   std::list<GoalInfo> active_goals_;
diff --git a/tf2_ros/include/tf2_ros/transform_listener.h b/tf2_ros/include/tf2_ros/transform_listener.h
index 640bf7667..4867d54e8 100644
--- a/tf2_ros/include/tf2_ros/transform_listener.h
+++ b/tf2_ros/include/tf2_ros/transform_listener.h
@@ -37,13 +37,13 @@
 #include <thread>
 #include <utility>
 
-#include "tf2/buffer_core.h"
 #include "tf2/time.h"
 #include "tf2_ros/visibility_control.h"
 
 #include "tf2_msgs/msg/tf_message.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "tf2_ros/buffer.h"
 #include "tf2_ros/qos.hpp"
 
 namespace tf2_ros
@@ -90,14 +90,14 @@ class TransformListener
    */
   TF2_ROS_PUBLIC
   explicit TransformListener(
-    tf2::BufferCore & buffer,
+    tf2_ros::BufferCoreROSConversions & buffer,
     bool spin_thread = true,
     bool static_only = false);
 
   /** \brief Node constructor */
   template<class NodeT, class AllocatorT = std::allocator<void>>
   TransformListener(
-    tf2::BufferCore & buffer,
+    tf2_ros::BufferCoreROSConversions & buffer,
     NodeT && node,
     bool spin_thread = true,
     const rclcpp::QoS & qos = DynamicListenerQoS(),
@@ -124,7 +124,7 @@ class TransformListener
   /** \brief Node interface constructor */
   template<class AllocatorT = std::allocator<void>>
   TransformListener(
-    tf2::BufferCore & buffer,
+    tf2_ros::BufferCoreROSConversions & buffer,
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
@@ -238,7 +238,7 @@ class TransformListener
     message_subscription_tf_ {nullptr};
   rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr
     message_subscription_tf_static_ {nullptr};
-  tf2::BufferCore & buffer_;
+  tf2_ros::BufferCoreROSConversions & buffer_;
   tf2::TimePoint last_update_;
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface_ {nullptr};
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_ {nullptr};
@@ -257,7 +257,7 @@ class StaticTransformListener : public TransformListener
    * \see the simplified TransformListener documentation
    */
   TF2_ROS_PUBLIC
-  explicit StaticTransformListener(tf2::BufferCore & buffer, bool spin_thread = true)
+  explicit StaticTransformListener(tf2_ros::BufferCoreROSConversions & buffer, bool spin_thread = true)
   : TransformListener(buffer, spin_thread, true)
   {
   }
@@ -265,7 +265,7 @@ class StaticTransformListener : public TransformListener
   /** \brief Node constructor */
   template<class NodeT, class AllocatorT = std::allocator<void>>
   StaticTransformListener(
-    tf2::BufferCore & buffer,
+    tf2_ros::BufferCoreROSConversions & buffer,
     NodeT && node,
     bool spin_thread = true,
     const rclcpp::QoS & static_qos = StaticListenerQoS(),
@@ -286,7 +286,7 @@ class StaticTransformListener : public TransformListener
   /** \brief Node interface constructor */
   template<class AllocatorT = std::allocator<void>>
   StaticTransformListener(
-    tf2::BufferCore & buffer,
+    tf2_ros::BufferCoreROSConversions & buffer,
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
diff --git a/tf2_ros/package.xml b/tf2_ros/package.xml
index 59d764f9a..b5fff6226 100644
--- a/tf2_ros/package.xml
+++ b/tf2_ros/package.xml
@@ -26,6 +26,7 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_msgs</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/tf2_ros/src/buffer.cpp b/tf2_ros/src/buffer.cpp
index 10ee57cc2..4f769b064 100644
--- a/tf2_ros/src/buffer.cpp
+++ b/tf2_ros/src/buffer.cpp
@@ -40,6 +40,8 @@
 #include <string>
 #include <thread>
 
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 namespace tf2_ros
 {
 inline
@@ -56,6 +58,89 @@ to_rclcpp(const tf2::Duration & duration)
   return rclcpp::Duration(std::chrono::nanoseconds(duration));
 }
 
+geometry_msgs::msg::TransformStamped
+BufferCoreROSConversions::lookupTransform(
+  const std::string & target_frame, const std::string & source_frame,
+  const tf2::TimePoint & time) const
+{
+  const tf2::Stamped<tf2::Transform> stamped_transform = lookupTransformTf2(
+    target_frame,
+    source_frame, time);
+
+  geometry_msgs::msg::TransformStamped msg = tf2::toMsg(stamped_transform);
+  msg.child_frame_id = source_frame;
+
+  return msg;
+}
+
+geometry_msgs::msg::TransformStamped
+BufferCoreROSConversions::lookupTransform(
+  const std::string & target_frame, const tf2::TimePoint & target_time,
+  const std::string & source_frame, const tf2::TimePoint & source_time,
+  const std::string & fixed_frame) const
+{
+  return lookupTransform(
+    target_frame,
+    target_time,
+    source_frame,
+    source_time,
+    fixed_frame);
+}
+
+geometry_msgs::msg::VelocityStamped BufferCoreROSConversions::lookupVelocity(
+  const std::string & tracking_frame, const std::string & observation_frame,
+  const tf2::TimePoint & time, const tf2::Duration & averaging_interval) const
+{
+  // ref point is origin of tracking_frame, ref_frame = obs_frame
+  return lookupVelocity(
+    tracking_frame, observation_frame, observation_frame, tf2::Vector3(
+      0, 0,
+      0), tracking_frame, time,
+    averaging_interval);
+}
+
+geometry_msgs::msg::VelocityStamped BufferCoreROSConversions::lookupVelocity(
+  const std::string & tracking_frame, const std::string & observation_frame,
+  const std::string & reference_frame, const tf2::Vector3 & reference_point,
+  const std::string & reference_point_frame,
+  const tf2::TimePoint & time, const tf2::Duration & averaging_interval) const
+{
+  const tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> stamped_velocity = lookupVelocityTf2(
+    tracking_frame, observation_frame, reference_frame,
+    reference_point, reference_point_frame, time, averaging_interval);
+
+  geometry_msgs::msg::VelocityStamped msg;
+  const std::chrono::nanoseconds ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
+    stamped_velocity.stamp_.time_since_epoch());
+  const std::chrono::seconds s = std::chrono::duration_cast<std::chrono::seconds>(
+    stamped_velocity.stamp_.time_since_epoch());
+  msg.header.stamp.sec = static_cast<int32_t>(s.count());
+  msg.header.stamp.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
+  msg.header.frame_id = reference_frame;
+  msg.body_frame_id = tracking_frame;
+
+  msg.velocity.linear.x = stamped_velocity.first.x();
+  msg.velocity.linear.y = stamped_velocity.first.y();
+  msg.velocity.linear.z = stamped_velocity.first.z();
+  msg.velocity.angular.x = stamped_velocity.second.x();
+  msg.velocity.angular.y = stamped_velocity.second.y();
+  msg.velocity.angular.z = stamped_velocity.second.z();
+
+  return msg;
+}
+
+bool BufferCoreROSConversions::setTransform(
+  const geometry_msgs::msg::TransformStamped & transform,
+  const std::string & authority, bool is_static)
+{
+  tf2::Stamped<tf2::Transform> tf2_transform;
+  tf2::fromMsg(transform, tf2_transform);
+
+  return setTransformTf2(
+    tf2_transform, transform.header.frame_id, transform.child_frame_id,
+    tf2_transform.stamp_, authority, is_static);
+}
+
 geometry_msgs::msg::TransformStamped
 Buffer::lookupTransform(
   const std::string & target_frame, const std::string & source_frame,
@@ -64,6 +149,7 @@ Buffer::lookupTransform(
   // Pass error string to suppress console spam
   std::string error;
   canTransform(target_frame, source_frame, lookup_time, timeout, &error);
+  
   return lookupTransform(target_frame, source_frame, lookup_time);
 }
 
@@ -89,6 +175,7 @@ Buffer::lookupTransform(
   // Pass error string to suppress console spam
   std::string error;
   canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout, &error);
+  
   return lookupTransform(target_frame, target_time, source_frame, source_time, fixed_frame);
 }
 
@@ -206,7 +293,7 @@ Buffer::waitForTransform(
 
       if (result == tf2::TransformAvailable) {
         geometry_msgs::msg::TransformStamped msg_stamped = this->lookupTransform(
-          target_frame, source_frame, time);
+          target_frame, source_frame, time, tf2::Duration(0));
         promise->set_value(msg_stamped);
       } else {
         promise->set_exception(
@@ -222,7 +309,7 @@ Buffer::waitForTransform(
   if (0 == handle) {
     // Immediately transformable
     geometry_msgs::msg::TransformStamped msg_stamped = lookupTransform(
-      target_frame, source_frame, time);
+      target_frame, source_frame, time, tf2::Duration(0));
     promise->set_value(msg_stamped);
     callback(future);
   } else if (0xffffffffffffffffULL == handle) {
diff --git a/tf2_ros/src/buffer_client.cpp b/tf2_ros/src/buffer_client.cpp
index 32702ab32..6379efabf 100644
--- a/tf2_ros/src/buffer_client.cpp
+++ b/tf2_ros/src/buffer_client.cpp
@@ -43,6 +43,8 @@
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
 
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
 namespace tf2_ros
 {
 geometry_msgs::msg::TransformStamped BufferClient::lookupTransform(
@@ -55,8 +57,8 @@ geometry_msgs::msg::TransformStamped BufferClient::lookupTransform(
   LookupTransformAction::Goal goal;
   goal.target_frame = target_frame;
   goal.source_frame = source_frame;
-  goal.source_time = tf2_ros::toMsg(time);
-  goal.timeout = tf2_ros::toMsg(timeout);
+  goal.source_time = tf2::toMsg(time);
+  goal.timeout = tf2::toMsg(timeout);
   goal.advanced = false;
 
   return processGoal(goal);
@@ -74,9 +76,9 @@ geometry_msgs::msg::TransformStamped BufferClient::lookupTransform(
   LookupTransformAction::Goal goal;
   goal.target_frame = target_frame;
   goal.source_frame = source_frame;
-  goal.source_time = tf2_ros::toMsg(source_time);
-  goal.timeout = tf2_ros::toMsg(timeout);
-  goal.target_time = tf2_ros::toMsg(target_time);
+  goal.source_time = tf2::toMsg(source_time);
+  goal.timeout = tf2::toMsg(timeout);
+  goal.target_time = tf2::toMsg(target_time);
   goal.fixed_frame = fixed_frame;
   goal.advanced = true;
 
@@ -86,7 +88,7 @@ geometry_msgs::msg::TransformStamped BufferClient::lookupTransform(
 geometry_msgs::msg::TransformStamped BufferClient::processGoal(
   const LookupTransformAction::Goal & goal) const
 {
-  if (!client_->wait_for_action_server(tf2_ros::fromMsg(goal.timeout))) {
+  if (!client_->wait_for_action_server(tf2::fromMsg(goal.timeout))) {
     throw tf2::ConnectivityException("Failed find available action server");
   }
 
@@ -98,7 +100,7 @@ geometry_msgs::msg::TransformStamped BufferClient::processGoal(
   tf2::TimePoint start_time = tf2::get_now();
   while (rclcpp::ok() && !ready && !timed_out) {
     ready = (std::future_status::ready == goal_handle_future.wait_for(period));
-    timed_out = tf2::get_now() > start_time + tf2_ros::fromMsg(goal.timeout) + timeout_padding_;
+    timed_out = tf2::get_now() > start_time + tf2::fromMsg(goal.timeout) + timeout_padding_;
   }
 
   if (timed_out) {
@@ -117,7 +119,7 @@ geometry_msgs::msg::TransformStamped BufferClient::processGoal(
   ready = false;
   while (rclcpp::ok() && !ready && !timed_out) {
     ready = (std::future_status::ready == result_future.wait_for(period));
-    timed_out = tf2::get_now() > start_time + tf2_ros::fromMsg(goal.timeout) + timeout_padding_;
+    timed_out = tf2::get_now() > start_time + tf2::fromMsg(goal.timeout) + timeout_padding_;
   }
 
   if (timed_out) {
diff --git a/tf2_ros/src/buffer_server.cpp b/tf2_ros/src/buffer_server.cpp
index 37f8a9be9..52f42e4d9 100644
--- a/tf2_ros/src/buffer_server.cpp
+++ b/tf2_ros/src/buffer_server.cpp
@@ -37,7 +37,8 @@
 
 #include <tf2/exceptions.h>
 
-#include <tf2_ros/buffer.h>  // Only needed for toMsg() and fromMsg()
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 #include <tf2_ros/buffer_server.h>
 
 #include <algorithm>
@@ -161,7 +162,7 @@ void BufferServer::acceptedCB(GoalHandle gh)
   // along with the time that the goal will end
   GoalInfo goal_info;
   goal_info.handle = gh;
-  goal_info.end_time = tf2::get_now() + tf2_ros::fromMsg(gh->get_goal()->timeout);
+  goal_info.end_time = tf2::get_now() + tf2::fromMsg(gh->get_goal()->timeout);
 
   // we can do a quick check here to see if the transform is valid
   // we'll also do this if the end time has been reached
@@ -202,14 +203,14 @@ bool BufferServer::canTransform(GoalHandle gh)
 {
   const auto goal = gh->get_goal();
 
-  tf2::TimePoint source_time_point = tf2_ros::fromMsg(goal->source_time);
+  tf2::TimePoint source_time_point = tf2::fromMsg(goal->source_time);
 
   // check whether we need to used the advanced or simple api
   if (!goal->advanced) {
     return buffer_.canTransform(goal->target_frame, goal->source_frame, source_time_point, nullptr);
   }
 
-  tf2::TimePoint target_time_point = tf2_ros::fromMsg(goal->target_time);
+  tf2::TimePoint target_time_point = tf2::fromMsg(goal->target_time);
   return buffer_.canTransform(
     goal->target_frame, target_time_point,
     goal->source_frame, source_time_point, goal->fixed_frame, nullptr);
@@ -223,12 +224,12 @@ geometry_msgs::msg::TransformStamped BufferServer::lookupTransform(GoalHandle gh
   if (!goal->advanced) {
     return buffer_.lookupTransform(
       goal->target_frame, goal->source_frame,
-      tf2_ros::fromMsg(goal->source_time));
+      tf2::fromMsg(goal->source_time));
   }
 
   return buffer_.lookupTransform(
-    goal->target_frame, tf2_ros::fromMsg(goal->target_time),
-    goal->source_frame, tf2_ros::fromMsg(goal->source_time), goal->fixed_frame);
+    goal->target_frame, tf2::fromMsg(goal->target_time),
+    goal->source_frame, tf2::fromMsg(goal->source_time), goal->fixed_frame);
 }
 
 }  // namespace tf2_ros
diff --git a/tf2_ros/src/transform_listener.cpp b/tf2_ros/src/transform_listener.cpp
index 55e946496..6e0ec0e45 100644
--- a/tf2_ros/src/transform_listener.cpp
+++ b/tf2_ros/src/transform_listener.cpp
@@ -40,7 +40,7 @@
 namespace tf2_ros
 {
 
-TransformListener::TransformListener(tf2::BufferCore & buffer, bool spin_thread, bool static_only)
+TransformListener::TransformListener(tf2_ros::BufferCoreROSConversions & buffer, bool spin_thread, bool static_only)
 : buffer_(buffer)
 {
   rclcpp::NodeOptions options;
diff --git a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp
index 68e10fa69..6e15782b2 100644
--- a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp
+++ b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp
@@ -66,7 +66,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const sensor_msgs::msg::PointCloud2 & p)
 {
-  return tf2_ros::fromMsg(p.header.stamp);
+  return tf2::fromMsg(p.header.stamp);
 }
 
 // method to extract frame id from object