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If your first task is to find out if the TFs are being broadcast at all then I'd recommend staring rviz and subscribing to the TF topic. If you select an active frame_id from the drop down list in rviz then you should see any frames that are being broadcast by any nodes currently running.

This check will find out if they are being broadcast in the first place and what their frame_id's are. Then if you find out the TFs are there in the first place you can start writing a node to query them, it's not the same as subscribing to a topic in this case. There are good tutorials here for c++ and here for python.