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You can create a bare BufferCore class. And use it's API (setTransform and lookupTransform. If you don't care about timestamps, set the static
parameter to true
when setting the transform and it won't build a time history.
You can also use the tf2_ros::Buffer class if you want the templated transform
methods.
That too won't hit the network unless you instanciate a TransformListener
You can make as many of these as you want and they should be threadsafe.