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I think the answer depends on how much work you're doing to produce the transform, how often you need the transform, and how fresh the data needs to be when you get it.

If producing the transform doesn't require a lot of work, just publish it continuously.

If it requires a lot of work (i.e. it's a long running process) and you really don't need it often, then actionlib may be best since it's designed for interacting with remote operations that take time to complete.

If it requires a lot of work, you need it periodically, and you don't care how fresh it is, then just publish the transform at a low rate on a latched topic. This would also allow you to output the debugging messages you described.