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I'm pretty sure tf and tf2 do not have methods to do this.

I think the proper way to go about this would be to subscribe directly to the /tf topic and parse it yourself in an appropriate way. I suspect the Buffer classes in tf2 can provide some useful methods for this. You should study the tf2 and tf2_ros APIs carefully.

The trouble with trying to make a generic implementation of a transform callback is that the semantics are not well-defined when there are multiple links between the parent and child frames that are published by different sources at different times.