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The problem is caused because you're trying to use the tf::TransformListener listener object immediately after creating it. These objects work by listening to the tf and tf_static topics and storing a buffer of recent values. It then uses this buffer of messages to resolve transform queries.
Because of this you need to allow enough time for the TransformListener object to collect an initial buffer of values before you start using it.
It is recommended that you create a single tf::TransformListener object when your node starts up, then to use that same object for the lifetime of the node.
Hope this helps.
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