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Thank for the suggestion
I solved in this way and it works, I don't know if it is the best solution

geometry_msgs::PoseStamped current_position()
{ ros::Time now = ros::Time::now();
geometry_msgs::PoseStamped pose;
pose.header.stamp = now;
pose.header.frame_id = "/base_link";
pose.pose = pose_zero;
tf::StampedTransform my_transform;

    try {
            mRosTransformListener->waitForTransform("/base_link", "/map", (now+ros::Duration(1.0)), ros::Duration(10.0) );
            mRosTransformListener->lookupTransform("/base_link", "/map", now, my_transform);
    } 
    catch (tf::TransformException ex) { ROS_ERROR("%s",ex.what()); }
    if (mRosTransformListener->frameExists("/map"))
            ROS_INFO ("/map exist");
    if (mRosTransformListener->frameExists("/base_link"))
            ROS_INFO ("/base_link exist");
    try {
            mRosTransformListener->transformPose("/map", pose, pose);
    } 
    catch (tf::TransformException ex) { ROS_ERROR("%s",ex.what()); }       
    ROS_INFO("pose %f %f %f", pose.pose.position.x, pose.pose.position.y, pose.pose.position.z);                
    return pose;

}

Thank you again for you support

Thank for the suggestion
I solved in this way and it works, I don't know if it is the best solution

geometry_msgs::PoseStamped current_position() 
 
{ 
        ros::Time now = ros::Time::now(); 
 
        geometry_msgs::PoseStamped  pose; 
 
        pose.header.stamp = now; 
 
        pose.header.frame_id = "/base_link"; 
 
        pose.pose = pose_zero; 
 
        tf::StampedTransform my_transform;
 
my_transform;

        try {
             mRosTransformListener->waitForTransform("/base_link", "/map", (now+ros::Duration(1.0)), ros::Duration(10.0) );
             mRosTransformListener->lookupTransform("/base_link", "/map", now, my_transform);
     } 
     catch (tf::TransformException ex) { ROS_ERROR("%s",ex.what()); }
     if (mRosTransformListener->frameExists("/map"))
             ROS_INFO ("/map exist");
     if (mRosTransformListener->frameExists("/base_link"))
             ROS_INFO ("/base_link exist");
     try {
             mRosTransformListener->transformPose("/map", pose, pose);
     } 
     catch (tf::TransformException ex) { ROS_ERROR("%s",ex.what()); }       
     ROS_INFO("pose %f %f %f", pose.pose.position.x, pose.pose.position.y, pose.pose.position.z);                
     return pose;
}
 
} 
Thank you again for you support