Message filters apply only on frames [closed]

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Hi, I try to use messages filters to generate callback when I got the frame I want.

Here is the declaration:

   tf_sub_.subscribe(nh_, "tf", 10);
   tf_sub_ = nh_.subscribe<tf::Transformer>("tf", 1, &TeleopRoboteq::test_tf, this);
   tf_filter_ = new tf::MessageFilter<tf::Transformer>(tf_sub_, listener, "torso_1", 10);
   tf_filter_->registerCallback( boost::bind(&TeleopRoboteq::test_tf, this, _1) );

I try to do some math on the frame "torso_1" when it's available.

Is my data type correct for what I want to do ?