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Add Tf2 versions of lookupTransform, lookupVelocity, setTransform#728

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kyle-basis wants to merge 5 commits into
ros2:rollingfrom
basis-robotics:generic_tf2_core
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Add Tf2 versions of lookupTransform, lookupVelocity, setTransform#728
kyle-basis wants to merge 5 commits into
ros2:rollingfrom
basis-robotics:generic_tf2_core

remove pointless virtual

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