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You can lookup the newest possible transform between two frames with ros::Time(0) instead of (*cloud_msg).header.stamp, as you have above. However, that may not accurately reflect the position of the point cloud if your base has moved.

It looks like you're getting a point cloud from before the first tf is available. This may just be a startup condition that will go away after tfs are published and your node receives them. If that might be the case, you should consider waiting to process the point cloud or catching this exception and doing nothing until you receive some tfs.