ROS2 - Transforming a non-frame pose with TF2?

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I have a full transform tree going map -> odom -> base_link which works well for slamming with my robot. I would like to find a practical way to find a point which is x meters in _front_ of the robot. I could use the current orientation to figure out what "in front" means, then apply trigonometry to get the point in question.

Meanwhile, this type of calculation is done by TF2 all the time. It would make little sense to not use it for transforming poses between coordinate frames. However, it looks to me like TF2 can only transform _frames_, which means that I either need to create a frame for my goal pose, or do the above mentioned trigonometry.

What's the proper way of solving this problem?