Hi, I want to transform the coordinate frame of a point to another frame, to use it later in generating the commanded velocities. the code is the following:

#include <ros/ros.h>
#include <geometry_msgs/PointStamped.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/Float32.h>
#include <cmath>
#include <cstdlib>
#include <std_msgs/String.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/Empty.h>
#include <tf/transform_broadcaster.h>
#define M_PI 3.14159265358979323846 /* pi */


float current_x, current_y, current_z;
 float crt_x, crt_y, crt_z;
 int in = 0;
int out = 0;
double z;
double x;
double ti=0;
double t=0;


void poseCallBack(const nav_msgs::Odometry& msg) {

tf::StampedTransform transform;
tf::TransformListener listener;
tf::Quaternion Rot;

crt_x = msg.pose.pose.position.x;
crt_y = msg.pose.pose.position.y;
crt_z = msg.pose.pose.position.z;

  geometry_msgs::PointStamped odom_point;
  odom_point.header.frame_id = "odom";

  //we'll just use the most recent transform available for our simple example
 odom_point.header.stamp = ros::Time();

 //just an arbitrary point in space
 odom_point.point = msg.pose.pose.position;
try
{
ros::Time now = ros::Time::now();
if  (listener.canTransform("odom", "newFrame",ros::Time(0), std::string *error_msg=NULL))

{
listener.lookupTransform("odom","newFrame",  ros::Time(0), transform);
    in = 1;
 ROS_INFO("canTransform: TRUE");
 geometry_msgs::PointStamped newFrame_point;
 listener.transformPoint("newFrame", odom_point, newFrame_point);

 current_x = newFrame_point.point.x;
 current_y = newFrame_point.point.y;
 current_z = newFrame_point.point.z;

  ROS_INFO("odom: (%.2f, %.2f. %.2f) -----> newFrame: (%.2f, %.2f, %.2f) at time %.2f",
       odom_point.point.x, odom_point.point.y, odom_point.point.z,
       newFrame_point.point.x, newFrame_point.point.y, newFrame_point.point.z, newFrame_point.header.stamp.toSec());
   }
   else
   {
    ROS_INFO("canTransform: FALSE");
    }
          }
    catch (tf::TransformException &ex)
      {
     ROS_WARN("%s", ex.what());
      ros::Duration(1);
      }
       }

       int main(int argc, char ** argv) {
      ros::init(argc, argv, "trajectoryGoalTest");
       ros::NodeHandle nh_;
   ros::Publisher landPublisher=nh_.advertise<std_msgs::Empty>("/bebop/land", 10);
   ros::Subscriber odom_sub = nh_.subscribe("/bebop/odom", 10, & poseCallBack);
    ros::Publisher cmd_vel_pub = nh_.advertise<geometry_msgs::Twist>("/bebop/cmd_vel", 10);

     ros::Rate loop_rate(10);
      geometry_msgs::Point goal;
      goal.x = 1;
     goal.z = 1.3;

       while (ros::ok()) {
      if (in> 0) {
       z = goal.z - current_z;
        x = goal.x - current_x;
         ROS_INFO("Current x: %f , x goal:  %f", current_x ,goal.x);
         ROS_INFO("Current Z: %f , Z goal:  %f , Z difference:  %f", current_z , goal.z , z);
       if (z > 0.001 && out == 0) {
      ROS_INFO("in= : %d , z= : %f, out= : %d ", in , z , out);

   }else {
         out = 1;
    ROS_INFO("I reached");}
     if (out == 0) {
    geometry_msgs::Twist cmd;
    cmd.linear.z= 0.1*(goal.z - current_z);
   ROS_INFO("vel Z: %f ",cmd.linear.z);
   cmd_vel_pub.publish(cmd);
   ROS_INFO(" Out : %d, vel X: %f, vel Z: %f", out , cmd.linear.x , cmd.linear.z);
  } else{

   if (x > 0.001 && out == 1) {     
    geometry_msgs::Twist cmd;
    cmd.linear.x = 0.01*(goal.x - current_x);
    cmd.linear.z = -0.01;
  ROS_INFO("Out : %d, vel X: %f, vel Z: %f", out , cmd.linear.x , cmd.linear.z);
   cmd_vel_pub.publish(cmd);
  }
else{  
  ROS_INFO("am landing");
   std_msgs::Empty cmd;
  landPublisher.publish(cmd);    
   ROS_INFO("Out : %d", out );         
    }
        }

 loop_rate.sleep();
  }
   ros::spinOnce();
     }
      return 0;
   }

When I run the code the methode canTransform returns always False and I get this message:

[ INFO] [1567617188.063607542]: canTransform: FALSE

However both frames are existing:

Any suggestion. Thanks