TF waitForTransform buggy behaviour?

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I am having an issue similar to what's being described here.

I call waitForTransform (with 5 sec delay) and then call transformPoint using the respective frames. It waits 5 seconds and then gives an error. Here is the code:

   try:
            print 'waiting for transform from %s to %s' % (target_frame, ps.header.frame_id)
            listener.waitForTransform(ps.header.frame_id, target_frame, rospy.Time(0), rospy.Duration(5.0))
            res = listener.transformPoint(target_frame, ps).point

    except tf.LookupException:
            print 'Failed to retreive transformation, took too long (I guess)'

    except (tf.ConnectivityException, tf.ExtrapolationException):
            print 'Other errors...\n'

And the error:

waiting for transform from map to
camera_depth_optical_frame

[ERROR] [1511494445.671395]: bad callback: <function boundingBoxCallback at 0x7f9415860f50>
Traceback [...]

**Exception: . canTransform returned after 5.00655 timeout was 5.**

This last line gives me the feeling that waitForTransform is simply pausing the program for 5 seconds and not listening to see if the transformation becomes available during the time. Regardless, rosrun tf tf_echo /map /camera_depth_optical_frame gives the transformation in less than 5 seconds.

Could this be a bug?