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But I found the message filter with a call back function can only work outside the while loop, and tf transform can only work inside a while loop.
I'm not sure that is true. Are you referring to the fact that you'd have to call lookupTransform(..) repeatedly (in TF 1 at least)?
You probably want to have matched pairs of <message, tf>. In that case: take a look at Using Stamped datatypes with tf::MessageFilter.
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But I found the message filter with a call back function can only work outside the while loop, and tf transform can only work inside a while loop.
I'm not sure that is true. Are you referring to the fact that you'd have to call lookupTransform(..) repeatedly (in TF 1 at least)?
You probably want to have matched pairs of <message, tf>. In that case: take a look at Using Stamped datatypes with tf::MessageFilter.
Edit: what you show in your edit is exacly what the tf::MessageFilter is for.
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