ROS2 get TF2 transformations

For ROS1, there is the rostf object for getting TF2 transformation. We couldn't find a ROS2 equivalent. How can we get transformations from ROS2? We would like to avoid having to use ROS1 in matlab with a bridge to ROS2, as it seems wrong to have to init a ROS1 network, nodes, and communication, just because there is no TF2 support for ROS2.