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This is very tricky. I had to do

 import tf2_geometry_msgs.tf2_geometry_msgs

in order for the do_transform interfaces for PoseStamped and other geometry_msgs messages to be registered. The registration is done while importing as shown in the source code for tf2_geometry_msgs.py.

The comments by @Procópio and @Alkrick can be resolved by this.

This does not appear (from an end-user's perspective) to be relevant for the transform function. Either documentation should say this or the way to use tf2_ros should be improved (why not import the above automatically when doing tf2_ros?)

This is very tricky. I had to do

 import tf2_geometry_msgs.tf2_geometry_msgs

in order for the do_transform interfaces for PoseStamped and other geometry_msgs messages to be registered. The registration is done while importing as shown in the source code for tf2_geometry_msgs.py.

The comments by @Procópio and @Alkrick can be resolved by this.

This does not appear (from an end-user's perspective) to be relevant for the transform function. Either documentation should say this or the way to use tf2_ros should be improved (why not import the above automatically when doing import tf2_ros?)