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(I was maybe thinking about a subscriber to tf ?)
That would be my suggestion and should be the easiest way to do it. If you are using multiple waitForTransform in a serial fashion, i would guess, that you will miss all messages published in the meantime, until the desired transform arrives.
Think about the following case: Transforms are published in order of a, b, c, a, b, c, ... You start with waitForTransform(c) -> you will miss a, b and finaly get c. Next you wait for b and miss one a transform. After that you will listen for a, but miss another c in the meantime.
Hope my understanding of this matter is correct, cant give you any guaranty. ;)
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