Transform a pose to another frame with tf2 in Python

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Import the needed modules:

import tf2_ros
import tf2_geometry_msgs

Initialize the tf buffer and listener somewhere in your init function:

tf_buffer = tf2_ros.Buffer(rospy.Duration(100.0))  # tf buffer length
tf_listener = tf2_ros.TransformListener(self.tf_buffer)

Do the actual transformation:

transform = tf_buffer.lookup_transform(target_frame,
                                       # source frame:
                                       pose_stamped.header.frame_id,
                                       # get the tf at the time the pose was valid
                                       pose_stamped.header.stamp,
                                       # wait for at most 1 second for transform, otherwise throw
                                       rospy.Duration(1.0))

pose_transformed = tf2_geometry_msgs.do_transform_pose(pose_stamped, transform)