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I had the same error message returned to me. I then figured that my 'target_frame' argument (req.base_frame) in the listener lookupTransform call is empty! So I went in my main node (myworkcell_node.cpp) and noticed that the service request parameter 'base_frame' was only added after the service call when it should be BEFORE.
This line 'srv.request.base_frame = base_frame' should be before this line 'vision_client_.call(srv)'.