PointStamped from tf2_ros::Buffer

edit

I'm currently attempting to complete the following TF tutorial, however using TF2 instead of TF.

The part I'm struggling with is transforming the PointStamped. In standard TF the following would suffice

listener.transformPoint("base_link", laser_point, base_point);

However, from TF2 (as far as I am aware) transformPoint no longer exists and has been replaced by transform from the tf2_ros::Buffer library.

The final resulting function looks like so:

//void transformPoint(const tf::TransformListener& listener){ - TF version
    void transformPoint(const tf2_ros::Buffer& tfBuffer){
            geometry_msgs::PointStamped laser_point;

            laser_point.header.frame_id = "base_laser";

            laser_point.header.stamp = ros::Time();

            laser_point.point.x = 1.0;
            laser_point.point.y = 0.2;
            laser_point.point.z = 0.0;

            try{
                geometry_msgs::PointStamped base_point;

                //listener.transformPoint("base_link", laser_point, base_point); - TF version
                base_point = tfBuffer.transform(laser_point, "base_link");

                ROS_INFO("base_laser: (%.2f, %.2f. %.2f) -> base_link: (%.2f, %.2f, %.2f) at time %.2f",
                        laser_point.point.x, laser_point.point.y, laser_point.point.z,
                        base_point.point.x, base_point.point.y, base_point.point.z, 
                        base_point.header.stamp.toSec());

            }catch(tf2::TransformException& ex){
                 ROS_ERROR("Received ... from \"base_laser\" to \"base_link\": %s", ex.what());
            }
     }

Whilst the above code appears to pass the build stages, I receive a compile error which I'm struggling to dissect (apologies for posting such a large error message):

  CMakeFiles/tf2_listener.dir/src/tf2_listener.cpp.o: In function `geometry_msgs::PointStamped_<std::allocator<void> >& tf2_ros::BufferInterface::transform<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, geometry_msgs::PointStamped_<std::allocator<void> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration) const':
tf2_listener.cpp:(.text._ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs13PointStamped_ISaIvEEEEERT_RKS6_S7_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN3ros8DurationE[_ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs13PointStamped_ISaIvEEEEERT_RKS6_S7_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN3ros8DurationE]+0x69): undefined reference to `ros::Time const& tf2::getTimestamp<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)'
tf2_listener.cpp:(.text._ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs13PointStamped_ISaIvEEEEERT_RKS6_S7_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN3ros8DurationE[_ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs13PointStamped_ISaIvEEEEERT_RKS6_S7_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN3ros8DurationE]+0x7b): undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const& tf2::getFrameId<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)'
tf2_listener.cpp:(.text._ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs13PointStamped_ISaIvEEEEERT_RKS6_S7_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN3ros8DurationE[_ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs13PointStamped_ISaIvEEEEERT_RKS6_S7_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN3ros8DurationE]+0xc8): undefined reference to `void tf2::doTransform<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, geometry_msgs::PointStamped_<std::allocator<void> >&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)'
collect2: error: ld returned 1 exit status
robot_setup_tf2/CMakeFiles/tf2_listener.dir/build.make:118: recipe for target '/home/connor/catkin_ws/devel/lib/robot_setup_tf2/tf2_listener' failed
make[2]: *** [/home/connor/catkin_ws/devel/lib/robot_setup_tf2/tf2_listener] Error 1
CMakeFiles/Makefile2:1469: recipe for target 'robot_setup_tf2/CMakeFiles/tf2_listener.dir/all' failed
make[1]: *** [robot_setup_tf2/CMakeFiles/tf2_listener.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j24 -l24" failed