diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 64a792b8..412cb3a5 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package plotjuggler_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.1 (2020-12-18)
+------------------
+* Added TF messages to the parser (issue `#366 <https://github.com/PlotJuggler/plotjuggler-ros-plugins/issues/366>`_)
+* Update README.md
+* Update README.md
+* Merge pull request `#1 <https://github.com/PlotJuggler/plotjuggler-ros-plugins/issues/1>`_ from uhobeike/development
+  Made it possible to install
+* Made it possible to install
+* fix includes
+* Contributors: Davide Faconti, davide, uhobeike
+
 1.0.0 (2020-11-23)
 ------------------
 
diff --git a/README.md b/README.md
index cd2a85d9..f09eb169 100644
--- a/README.md
+++ b/README.md
@@ -29,7 +29,7 @@ Create a catkin workspace and clone the repositories:
      mkdir -p ~/ws_plotjuggler/src
      cd ~/ws_plotjuggler/src
      git clone https://github.com/PlotJuggler/plotjuggler_msgs.git
-     git clone https://github.com/PlotJuggler/PlotJuggler.git
+     git clone https://github.com/facontidavide/PlotJuggler.git
      git clone https://github.com/PlotJuggler/plotjuggler-ros-plugins.git
      
 Now, it is time to compile:
diff --git a/package.xml b/package.xml
index 10add671..9c6a48fa 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>plotjuggler_ros</name>
-    <version>1.0.0</version>
+    <version>1.0.1</version>
     <description>PlotJuggler plugin for ROS</description>
 
     <maintainer email="davide.faconti@gmail.com">Davide Faconti</maintainer>
diff --git a/plugins/ros1_parsers/diagnostic_msg.h b/plugins/ros1_parsers/diagnostic_msg.h
index 6d2aa561..47e026aa 100644
--- a/plugins/ros1_parsers/diagnostic_msg.h
+++ b/plugins/ros1_parsers/diagnostic_msg.h
@@ -2,6 +2,7 @@
 
 #include <diagnostic_msgs/DiagnosticArray.h>
 #include <boost/spirit/include/qi.hpp>
+#include "fmt/format.h"
 #include "ros1_parser.h"
 
 class DiagnosticMsgParser : public BuiltinMessageParser<diagnostic_msgs::DiagnosticArray>
@@ -31,7 +32,8 @@ class DiagnosticMsgParser : public BuiltinMessageParser<diagnostic_msgs::Diagnos
         const char* start_ptr = kv.value.data();
         double val = 0;
 
-        bool parsed = boost::spirit::qi::parse(start_ptr, start_ptr + kv.value.size(), boost::spirit::qi::double_, val);
+        bool parsed = boost::spirit::qi::parse(start_ptr, start_ptr + kv.value.size(),
+                                               boost::spirit::qi::double_, val);
         if (!parsed){
           continue;
         }
diff --git a/plugins/ros2_parsers/diagnostic_msg.h b/plugins/ros2_parsers/diagnostic_msg.h
new file mode 100644
index 00000000..2dc09f79
--- /dev/null
+++ b/plugins/ros2_parsers/diagnostic_msg.h
@@ -0,0 +1,54 @@
+#pragma once
+
+#include <diagnostic_msgs/msg/diagnostic_array.hpp>
+#include <boost/spirit/include/qi.hpp>
+#include "ros2_parser.h"
+#include "fmt/format.h"
+
+class DiagnosticMsgParser : public BuiltinMessageParser<diagnostic_msgs::msg::DiagnosticArray>
+{
+public:
+ DiagnosticMsgParser(const std::string& topic_name, PJ::PlotDataMapRef& plot_data)
+    : BuiltinMessageParser<diagnostic_msgs::msg::DiagnosticArray>(topic_name, plot_data)
+  {
+  }
+
+  virtual void parseMessageImpl(const diagnostic_msgs::msg::DiagnosticArray& msg, double timestamp) override
+  {
+    double header_stamp = double(msg.header.stamp.sec) + double(msg.header.stamp.nanosec) * 1e-9;
+    timestamp = (_use_header_stamp && header_stamp > 0) ? header_stamp : timestamp;
+
+    auto stamp_series = &getSeries("/header/seq");
+    stamp_series->pushBack( {timestamp, header_stamp} );
+
+    std::string key;
+
+    for (const auto& status : msg.status)
+    {
+      for (const auto& kv : status.values)
+      {
+        const char* start_ptr = kv.value.data();
+        double val = 0;
+
+        bool parsed = boost::spirit::qi::parse(start_ptr, start_ptr + kv.value.size(),
+                                               boost::spirit::qi::double_, val);
+        if (!parsed){
+          continue;
+        }
+
+        if (status.hardware_id.empty())
+        {
+          key = fmt::format("{}/{}/{}", _topic_name, status.name, kv.key);
+        }
+        else
+        {
+          key = fmt::format("{}/{}/{}/{}", _topic_name, status.hardware_id, status.name, kv.key);
+        }
+        auto& series = getSeries(key);
+        series.pushBack({ timestamp, val });
+      }
+    }
+  }
+
+};
+
diff --git a/plugins/ros2_parsers/imu_msg.h b/plugins/ros2_parsers/imu_msg.h
index 34834d62..ed60321e 100644
--- a/plugins/ros2_parsers/imu_msg.h
+++ b/plugins/ros2_parsers/imu_msg.h
@@ -16,16 +16,16 @@ class ImuMsgParser : public BuiltinMessageParser<sensor_msgs::msg::Imu>
     , _lin_acc_covariance(topic_name + "/linear_acceleration_covariance", plot_data)
     , _ang_vel_covariance(topic_name + "/angular_velocity_covariance", plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/sec"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/nanosec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/sec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/nanosec"));
 
-    _data.push_back(&getSeries(plot_data, topic_name + "/angular_velocity/x"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/angular_velocity/y"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/angular_velocity/z"));
+    _data.push_back(&getSeries(topic_name + "/angular_velocity/x"));
+    _data.push_back(&getSeries(topic_name + "/angular_velocity/y"));
+    _data.push_back(&getSeries(topic_name + "/angular_velocity/z"));
 
-    _data.push_back(&getSeries(plot_data, topic_name + "/linear_acceleration/x"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/linear_acceleration/y"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/linear_acceleration/z"));
+    _data.push_back(&getSeries(topic_name + "/linear_acceleration/x"));
+    _data.push_back(&getSeries(topic_name + "/linear_acceleration/y"));
+    _data.push_back(&getSeries(topic_name + "/linear_acceleration/z"));
   }
 
   void parseMessageImpl(const sensor_msgs::msg::Imu& msg, double timestamp) override
diff --git a/plugins/ros2_parsers/jointstates_msg.h b/plugins/ros2_parsers/jointstates_msg.h
index 62867120..28a1fcd2 100644
--- a/plugins/ros2_parsers/jointstates_msg.h
+++ b/plugins/ros2_parsers/jointstates_msg.h
@@ -9,8 +9,8 @@ class JointStateMsgParser : public BuiltinMessageParser<sensor_msgs::msg::JointS
   JointStateMsgParser(const std::string& topic_name, PJ::PlotDataMapRef& plot_data)
     : BuiltinMessageParser<sensor_msgs::msg::JointState>(topic_name, plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/sec"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/nanosec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/sec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/nanosec"));
   }
 
   void parseMessageImpl(const sensor_msgs::msg::JointState& msg, double timestamp) override
@@ -29,19 +29,19 @@ class JointStateMsgParser : public BuiltinMessageParser<sensor_msgs::msg::JointS
 
       if (msg.name.size() == msg.position.size())
       {
-        auto& series = getSeries(_plot_data, prefix + "/position");
+        auto& series = getSeries(prefix + "/position");
         series.pushBack({ timestamp, msg.position[i] });
       }
 
       if (msg.name.size() == msg.velocity.size())
       {
-        auto& series = getSeries(_plot_data, prefix + "/velocity");
+        auto& series = getSeries(prefix + "/velocity");
         series.pushBack({ timestamp, msg.velocity[i] });
       }
 
       if (msg.name.size() == msg.effort.size())
       {
-        auto& series = getSeries(_plot_data, prefix + "/effort");
+        auto& series = getSeries(prefix + "/effort");
         series.pushBack({ timestamp, msg.effort[i] });
       }
     }
diff --git a/plugins/ros2_parsers/odometry_msg.h b/plugins/ros2_parsers/odometry_msg.h
index dbcf54c8..aa4bf430 100644
--- a/plugins/ros2_parsers/odometry_msg.h
+++ b/plugins/ros2_parsers/odometry_msg.h
@@ -13,8 +13,8 @@ class OdometryMsgParser : public BuiltinMessageParser<nav_msgs::msg::Odometry>
     , _pose_parser(topic_name + "/pose", plot_data)
     , _twist_parser(topic_name + "/twist", plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/sec"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/nanosec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/sec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/nanosec"));
   }
 
   void parseMessageImpl(const nav_msgs::msg::Odometry& msg, double timestamp) override
diff --git a/plugins/ros2_parsers/pose_msg.h b/plugins/ros2_parsers/pose_msg.h
index 0c488b42..4a5ccf32 100644
--- a/plugins/ros2_parsers/pose_msg.h
+++ b/plugins/ros2_parsers/pose_msg.h
@@ -14,9 +14,9 @@ class PoseMsgParser : public BuiltinMessageParser<geometry_msgs::msg::Pose>
     : BuiltinMessageParser<geometry_msgs::msg::Pose>(topic_name, plot_data)
     , _quat_parser(topic_name + "/orientation", plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/position/x"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/position/y"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/position/z"));
+    _data.push_back(&getSeries(topic_name + "/position/x"));
+    _data.push_back(&getSeries(topic_name + "/position/y"));
+    _data.push_back(&getSeries(topic_name + "/position/z"));
   }
 
   void parseMessageImpl(const geometry_msgs::msg::Pose& msg, double timestamp) override
@@ -39,8 +39,8 @@ class PoseStampedMsgParser : public BuiltinMessageParser<geometry_msgs::msg::Pos
   PoseStampedMsgParser(const std::string& topic_name, PJ::PlotDataMapRef& plot_data)
     : BuiltinMessageParser<geometry_msgs::msg::PoseStamped>(topic_name, plot_data), _pose_parser(topic_name, plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/sec"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/nanosec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/sec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/nanosec"));
   }
 
   void parseMessageImpl(const geometry_msgs::msg::PoseStamped& msg, double timestamp) override
diff --git a/plugins/ros2_parsers/quaternion_msg.h b/plugins/ros2_parsers/quaternion_msg.h
index 3fef4fce..a37f6abb 100644
--- a/plugins/ros2_parsers/quaternion_msg.h
+++ b/plugins/ros2_parsers/quaternion_msg.h
@@ -9,14 +9,14 @@ class QuaternionMsgParser : public BuiltinMessageParser<geometry_msgs::msg::Quat
   QuaternionMsgParser(const std::string& topic_name, PJ::PlotDataMapRef& plot_data)
     : BuiltinMessageParser<geometry_msgs::msg::Quaternion>(topic_name, plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/x"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/y"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/z"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/w"));
+    _data.push_back(&getSeries(topic_name + "/x"));
+    _data.push_back(&getSeries(topic_name + "/y"));
+    _data.push_back(&getSeries(topic_name + "/z"));
+    _data.push_back(&getSeries(topic_name + "/w"));
 
-    _data.push_back(&getSeries(plot_data, topic_name + "/roll_deg"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/pitch_deg"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/yaw_deg"));
+    _data.push_back(&getSeries(topic_name + "/roll_deg"));
+    _data.push_back(&getSeries(topic_name + "/pitch_deg"));
+    _data.push_back(&getSeries(topic_name + "/yaw_deg"));
   }
 
   void parseMessageImpl(const geometry_msgs::msg::Quaternion& msg, double timestamp) override
diff --git a/plugins/ros2_parsers/ros2_parser.cpp b/plugins/ros2_parsers/ros2_parser.cpp
index 2e14e1c4..07cf2503 100644
--- a/plugins/ros2_parsers/ros2_parser.cpp
+++ b/plugins/ros2_parsers/ros2_parser.cpp
@@ -2,14 +2,25 @@
 #include "jointstates_msg.h"
 #include "imu_msg.h"
 #include "odometry_msg.h"
+#include "tf_msg.h"
 #include "plotjuggler_msgs.h"
-
+#include "diagnostic_msg.h"
 
 void RosMessageParser::setUseHeaderStamp(bool use)
 {
   _use_header_stamp = use;
 }
 
+PJ::PlotData& RosMessageParser::getSeries(const std::string key)
+{
+  auto plot_pair = _plot_data.numeric.find(key);
+  if (plot_pair == _plot_data.numeric.end())
+  {
+    plot_pair = _plot_data.addNumeric(key);
+  }
+  return plot_pair->second;
+}
+
 PJ::PlotData& RosMessageParser::getSeries(PJ::PlotDataMapRef& plot_data, const std::string key)
 {
   auto plot_pair = plot_data.numeric.find(key);
@@ -44,7 +55,7 @@ bool IntrospectionParser::parseMessage(const rcutils_uint8_array_t* serialized_m
     const auto& key = it.first;
     double value = it.second;
 
-    auto& series = getSeries(_plot_data, key);
+    auto& series = getSeries(key);
 
     if (!std::isnan(value) && !std::isinf(value))
     {
@@ -104,6 +115,14 @@ void CompositeParser::registerMessageType(const std::string& topic_name, const s
   {
     parser.reset(new JointStateMsgParser(topic_name, _plot_data));
   }
+  else if (type == "diagnostic_msgs/DiagnosticArray")
+  {
+    parser.reset(new DiagnosticMsgParser(topic_name, _plot_data));
+  }
+  else if (type == "tf2_msgs/TFMessage")
+  {
+    parser.reset(new TfMsgParser(topic_name, _plot_data));
+  }
   else if (type == "geometry_msgs/Quaternion")
   {
     parser.reset(new QuaternionMsgParser(topic_name, _plot_data));
diff --git a/plugins/ros2_parsers/ros2_parser.h b/plugins/ros2_parsers/ros2_parser.h
index 4acddd4b..0c339c69 100644
--- a/plugins/ros2_parsers/ros2_parser.h
+++ b/plugins/ros2_parsers/ros2_parser.h
@@ -44,10 +44,17 @@ class RosMessageParser
 
   virtual bool parseMessage(const MessageRef* serialized_msg, double timestamp) = 0;
 
+  PJ::PlotData& getSeries(const std::string key);
+
   static PJ::PlotData& getSeries(PJ::PlotDataMapRef& plot_data, const std::string key);
 
   virtual const rosidl_message_type_support_t* typeSupport() const = 0;
 
+  PJ::PlotDataMapRef& plotData()
+  {
+    return _plot_data;
+  }
+
 protected:
   bool _use_header_stamp;
   const std::string _topic_name;
diff --git a/plugins/ros2_parsers/tf_msg.h b/plugins/ros2_parsers/tf_msg.h
new file mode 100644
index 00000000..e88f8197
--- /dev/null
+++ b/plugins/ros2_parsers/tf_msg.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include <tf2_msgs/msg/tf_message.hpp>
+#include "fmt/format.h"
+#include "ros2_parser.h"
+
+class TfMsgParser : public BuiltinMessageParser<tf2_msgs::msg::TFMessage>
+{
+public:
+
+  TfMsgParser(const std::string& topic_name, PJ::PlotDataMapRef& plot_data) :
+    BuiltinMessageParser<tf2_msgs::msg::TFMessage>(topic_name, plot_data)
+  {
+  }
+
+  void parseMessageImpl(const tf2_msgs::msg::TFMessage& msg, double timestamp) override
+  {
+    using namespace PJ;
+
+    for (const auto& trans : msg.transforms)
+    {
+      double header_stamp = double(trans.header.stamp.sec) + double(trans.header.stamp.nanosec) * 1e-9;
+      timestamp = (_use_header_stamp && header_stamp > 0) ? header_stamp : timestamp;
+
+      std::string prefix;
+      if (trans.header.frame_id.empty())
+      {
+        prefix = fmt::format("{}/{}", _topic_name, trans.child_frame_id);
+      }
+      else
+      {
+        prefix = fmt::format("{}/{}/{}", _topic_name, trans.header.frame_id, trans.child_frame_id);
+      }
+
+      PlotData* series = &getSeries( prefix + "/header/stamp");
+      series->pushBack({ timestamp, header_stamp });
+
+      series = &getSeries( prefix + "/translation/x");
+      series->pushBack({ timestamp, trans.transform.translation.x });
+
+      series = &getSeries( prefix + "/translation/y");
+      series->pushBack({ timestamp, trans.transform.translation.y });
+
+      series = &getSeries( prefix + "/translation/z");
+      series->pushBack({ timestamp, trans.transform.translation.z });
+
+      series = &getSeries( prefix + "/rotation/x");
+      series->pushBack({ timestamp, trans.transform.rotation.x });
+
+      series = &getSeries( prefix + "/rotation/y");
+      series->pushBack({ timestamp, trans.transform.rotation.y });
+
+      series = &getSeries( prefix + "/rotation/z");
+      series->pushBack({ timestamp, trans.transform.rotation.z });
+
+      series = &getSeries( prefix + "/rotation/w");
+      series->pushBack({ timestamp, trans.transform.rotation.w });
+    }
+  }
+private:
+
+};
+
diff --git a/plugins/ros2_parsers/twist_msg.h b/plugins/ros2_parsers/twist_msg.h
index e820a5ff..aec49cf2 100644
--- a/plugins/ros2_parsers/twist_msg.h
+++ b/plugins/ros2_parsers/twist_msg.h
@@ -12,13 +12,13 @@ class TwistMsgParser : public BuiltinMessageParser<geometry_msgs::msg::Twist>
   TwistMsgParser(const std::string& topic_name, PJ::PlotDataMapRef& plot_data)
     : BuiltinMessageParser<geometry_msgs::msg::Twist>(topic_name, plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/linear/x"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/linear/y"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/linear/z"));
+    _data.push_back(&getSeries(topic_name + "/linear/x"));
+    _data.push_back(&getSeries(topic_name + "/linear/y"));
+    _data.push_back(&getSeries(topic_name + "/linear/z"));
 
-    _data.push_back(&getSeries(plot_data, topic_name + "/angular/x"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/angular/y"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/angular/z"));
+    _data.push_back(&getSeries(topic_name + "/angular/x"));
+    _data.push_back(&getSeries(topic_name + "/angular/y"));
+    _data.push_back(&getSeries(topic_name + "/angular/z"));
   }
 
   void parseMessageImpl(const geometry_msgs::msg::Twist& msg, double timestamp) override
@@ -43,8 +43,8 @@ class TwistStampedMsgParser : public BuiltinMessageParser<geometry_msgs::msg::Tw
     : BuiltinMessageParser<geometry_msgs::msg::TwistStamped>(topic_name, plot_data)
     , _twist_parser(topic_name, plot_data)
   {
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/sec"));
-    _data.push_back(&getSeries(plot_data, topic_name + "/header/stamp/nanosec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/sec"));
+    _data.push_back(&getSeries(topic_name + "/header/stamp/nanosec"));
   }
 
   void parseMessageImpl(const geometry_msgs::msg::TwistStamped& msg, double timestamp) override