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I'm not very familiar with the aruco_detect package, but because the transform is between an optical frame and a fiducial frame, I assume that it's a transform the node figures out at runtime. As such, there may be a delay before it first publishes the resulting transform, while the node does the necessary calculations. As soon as the transform is available in the tf tree, you should be able to echo it without error.

The reason the other transforms are all available immediately is that they are predefined static transforms and don't require any calculations. The statistics for such transforms look like this:

Average rate: 10000.0
Buffer length: 0.0
Most recent transform: 0.0
Oldest transform: 0.0