cl-tf software package provides Robot OS tf transform library -- LISP interface, you can install in your Ubuntu 16.10 (Yakkety Yak) by running the commands given below on the terminal,
$ sudo apt-get update $ sudo apt-get install cl-tf
cl-tf is installed in your system.
Make ensure the cl-tf package were installed using the commands given below,
$ sudo dpkg-query -l | grep cl-tf *
You will get with cl-tf package name, version, architecture and description in a table
| Distro | Ubuntu 16 10 yakkety yak |
| Section | Lisp |
| Package | cl-tf |
| Version | 1.11.8-3 |
| Description | Robot OS tf transform library -- LISP interface |
| Sub Section | lisp |