Rotate and translate 2D LaserScan message from one frame to another frame

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I have two tf2 frames called, for example, laser_base and estimated_pose that are both connected to a common map frame. Furthermore, a LaserScan message is published, that is attached to the laser_base frame. What I'm trying to do is rotate and translate the LaserScan data from the laser_base frame to the estimated_pose frame, and was wondering if such a transformation is possible using the tf2 library.

Having looked at the tf2tutorials, the closest thing I could find that might be able to achieve this was the following: http://wiki.ros.org/tf2/Tutorials/Usi...

However, upon closer inspection it seems like this will only report the LaserScan ranges published in the laser_base frame relative to the estimated_pose frame, and won't actually rotate and translate the LaserScan ranges from the laser_base frame to the estimated_pose frame.

Since I don't have enough points to post an example image directly to this forum, I've attached an external link here: https://imgur.com/a/iXsXyW0

As can be seen in the attached image, the LaserScan data is publised in the laser_base frame located in the top right of the image. However, I'm trying to rotate and translate the LaserScan data into the estimated_pose frame located in the bottom center of the image, in order to have the LaserScan data align more accurately with the map data.