[ros-users] Rotation Method to follow

Hello All,

My question is about the TF rotation to be used for our application.

We are developing a simple base which will move in the world(Map) space.
It is without using any link/ARM which directly eliminates operations
related to "Roll, Pitch, Yaw"
But we do have turning angle and velocity to be given to the motors along
with the X and Y co-ordinates.

I am confused with the Rotation method to be followed in TF.
Is Eigen Rotation2D method is suitable for us? If yes, then which
geometry_msgs type is suitable for it?

Thanks,
- Prasad