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The linker error says that the explicit template specialization of doTransform for geometry_msgs/Point32 does not exist. I cannot find it in https://github.com/ros/geometry2/blob/melodic-devel/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h either, so it seems quite likely that it doesn't exist.
If this code compiled at some point in the past, you may want to go back and figure out if the previous version had some dependency that provided that doTransform.
If you're not able to find it, you may need to implement it yourself. You can just put the template specialization in one of your headers, or near the top of the source file that uses it.
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