The short answer is: no, it is not planned to support `tf`1 in ROS 2.
The slightly longer answer: `tf2` is the successor of `tf` and available for a long time. The use of `tf` is deprecated and it should be fairly easy to upgrade any code. It might even be the case that `tf` 1 won't be released in a future ROS 1 release. Therefore spending any effort on support `tf` 1 in ROS 2 is considered not worth it.
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