diff --git a/cmake/configs/default.cmake b/cmake/configs/default.cmake
index f5e100646c..229a15c774 100644
--- a/cmake/configs/default.cmake
+++ b/cmake/configs/default.cmake
@@ -480,6 +480,7 @@ hunter_default_version(tacopie VERSION 3.2.0-h1)
 hunter_default_version(taocpp-json VERSION 1.0.0-beta.11-e0895587)
 hunter_default_version(tcl VERSION core8.6.8)
 hunter_default_version(termcolor VERSION 1.0.0)
+hunter_default_version(tf VERSION 1.12.0-p0)
 hunter_default_version(tf2 VERSION 0.6.5-p0)
 hunter_default_version(thread-pool-cpp VERSION 1.1.0)
 hunter_default_version(thrift VERSION 0.12.0-p0)
diff --git a/cmake/projects/tf/hunter.cmake b/cmake/projects/tf/hunter.cmake
new file mode 100644
index 0000000000..0588c59287
--- /dev/null
+++ b/cmake/projects/tf/hunter.cmake
@@ -0,0 +1,31 @@
+# Copyright (c) 2016-2019, Ruslan Baratov
+# All rights reserved.
+
+# !!! DO NOT PLACE HEADER GUARDS HERE !!!
+
+include(hunter_add_version)
+include(hunter_cacheable)
+include(hunter_download)
+include(hunter_pick_scheme)
+include(hunter_cmake_args)
+
+hunter_add_version(
+    PACKAGE_NAME
+    tf
+    VERSION
+    1.12.0-p0
+    URL
+    "https://github.com/hunter-packages/tf/archive/v1.12.0-p0.tar.gz"
+    SHA1
+    349b34bc9fe31e2f372d52e8b0b03002e229cc2c
+)
+
+hunter_cmake_args(
+    tf
+    CMAKE_ARGS
+    CATKIN_ENABLE_TESTING:BOOL=OFF
+)
+
+hunter_pick_scheme(DEFAULT url_sha1_cmake)
+hunter_cacheable(tf)
+hunter_download(PACKAGE_NAME tf)
diff --git a/docs/packages/pkg/tf.rst b/docs/packages/pkg/tf.rst
new file mode 100644
index 0000000000..024b118dec
--- /dev/null
+++ b/docs/packages/pkg/tf.rst
@@ -0,0 +1,22 @@
+.. spelling::
+
+    tf
+    ros
+
+.. index:: ROS ; tf
+
+.. _pkg.tf:
+
+tf
+==
+
+-  `Official <https://github.com/ros/geometry>`__
+-  `Hunterized <https://github.com/hunter-packages/tf>`__
+-  `Example <https://github.com/ruslo/hunter/blob/master/examples/tf/CMakeLists.txt>`__
+-  Added by `Krasimir Georgiev <https://github.com/kgeorgiev93>`__ (`pr-1933 <https://github.com/ruslo/hunter/pull/1933>`__)
+    - Contribution partially as part of work at `SeeByte Ltd. <http://www.seebyte.com>`__
+
+.. literalinclude:: /../examples/tf/CMakeLists.txt
+  :language: cmake
+  :start-after: # DOCUMENTATION_START {
+  :end-before: # DOCUMENTATION_END }
diff --git a/examples/tf/CMakeLists.txt b/examples/tf/CMakeLists.txt
new file mode 100644
index 0000000000..090f78ae62
--- /dev/null
+++ b/examples/tf/CMakeLists.txt
@@ -0,0 +1,21 @@
+# Copyright (c) 2016-2017, Ruslan Baratov
+# All rights reserved.
+
+cmake_minimum_required(VERSION 3.0)
+
+# Emulate HunterGate:
+# * https://github.com/hunter-packages/gate
+include("../common.cmake")
+
+project(download_tf)
+
+# DOCUMENTATION_START {
+
+hunter_add_package(tf)
+find_package(catkin CONFIG REQUIRED COMPONENTS tf)
+
+catkin_package()
+
+add_executable(main main.cpp)
+target_link_libraries(main ${catkin_LIBRARIES})
+# DOCUMENTATION_END }
diff --git a/examples/tf/main.cpp b/examples/tf/main.cpp
new file mode 100644
index 0000000000..c3e0b75a43
--- /dev/null
+++ b/examples/tf/main.cpp
@@ -0,0 +1,9 @@
+#include <iostream>
+#include "tf/tf.h"
+
+int main() {
+    ros::Time::init();
+    ros::Duration(3).sleep();
+    std::cout << "Done" << std::endl;
+    return 0;
+}
diff --git a/examples/tf/package.xml b/examples/tf/package.xml
new file mode 100644
index 0000000000..70cc3eb646
--- /dev/null
+++ b/examples/tf/package.xml
@@ -0,0 +1,11 @@
+<package format="2">
+    <name>download_tf</name>
+    <version>0.0.0</version>
+    <description>
+        This package provides foo capability.
+    </description>
+    <maintainer email="kgeorgiev1993@gmail.com">Krasimir Georgiev</maintainer>
+    <license>BSD</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+</package>