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The manual conversion:

builtin_interfaces::msg::Time time_stamp = msg->header.stamp;
tf2::TimePoint time_point = tf2::TimePoint(
    std::chrono::seconds(time_stamp.sec) +
    std::chrono::nanoseconds(time_stamp.nanosec));
geometry_msgs::msg::TransformStamped tf = buffer_.lookupTransform(
    frame1, frame2, time_point)