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Similar example earlier. I assume you can replace your tf::transform with tf::transformStamped retrieved from lookupTransform .

tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tf2_listener(tfBuffer);
geometry_msgs::TransformStamped your_transform; 

your_transform = tfBuffer.lookupTransform("TURTLE", "WORLD", ros::Time(0), ros::Duration(1.0) );
geometry_msgs::Point your_point;
tf2::doTransform(your_point, your_point, your_transform);