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The results look to be consistent with what you're stating as the problem.
I'm not sure why you expect the point of interest to be "just about 0.5m away from the origin of the planner frame" For that simple statement if you look at your lower plot it shows it being at a similar distance as (0.5,0,5) if you remember that the distance on the diagonal is going to be .707 m to that point from both the origin of the map and the origin of the planner. Your result is very similar but rotated slightly.
I'd suggest that you try doing the math out yourself by hand fully with a calculator or in python to verify. You can probably take out the rotation to simplify the manual math too at first.
The math in tf2 is very heavily used and well tested making a computational error very unlikely.
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