This package allows you to publish the state of a robot to<a href="http://ros.org/wiki/tf2">tf2</a>. Once the state gets published, it is available to all components in the system that also use<tt>tf2</tt>. The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future.