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I had this issue, calling waitForTransform() before lookupTransform() worked for me. The turtle takes some time to spawn, so the lookupTransform() doesn't see the turtle at the beginning. The function waitforTransform() waits for the first transform to appear.

You can find it here (just above 1.2 The Code Explained) : http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29

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