To remove just python-tf2-kdl package itself from Debian Unstable (Sid) execute on terminal:
sudo apt-get remove python-tf2-kdl
Uninstall python-tf2-kdl and it's dependent packages
To remove the python-tf2-kdl package and any other dependant package which are no longer needed from Debian Sid.
sudo apt-get remove --auto-remove python-tf2-kdl
If you also want to delete configuration and/or data files of python-tf2-kdl from Debian Sid then this will work:
sudo apt-get purge python-tf2-kdl
To delete configuration and/or data files of python-tf2-kdl and it's dependencies from Debian Sid then execute:
sudo apt-get purge --auto-remove python-tf2-kdl
More information about apt-get remove
apt-get remove is identical to install except that packages are removed instead of installed. Note that removing a package leaves its configuration files on the system. If a plus sign is appended to the package name (with no intervening space), the identified package will be installed instead of removed.