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Note: This is not really an answer but it was too long for a comment, sorry.

As I understand it, Buffer inherits from BufferInterface, where it uses TransformRegistration (also defined in the same file) to check if a type is supported, in this case PointStamped. Specifically, it uses the method get to check if that type is supported. Since the output you posted is an empty dictionary, I'm assuming there are no supported types.

They also define an add method that requires the type and a callback (no idea where to get this callback, though).

Perhaps the authors of this package can provide an insight?