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If you're getting the inverse of what you're expecting it's likely that you're confusing the direction of the API.

See: https://answers.ros.org/question/194046/the-problem-of-transformerlookuptransform/ or https://answers.ros.org/question/296844/time-travel-with-tf-tutorial-confusing-target-and-source-frames/ or https://answers.ros.org/question/229463/confusing-tf-transforms/