Example

tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer);

geometry_msgs::TransformStamped transformStamped;

try
{
    ros::Time now = ros::Time::now();
    if (tfBuffer.canTransform("odom",
                              "base_laser",
                              now,
                              ros::Duration(0.01)))
    {
        transformStamped = tfBuffer.lookupTransform("odom",
                                                    "base_laser",
                                                    now);
        ROS_INFO("canTransform: TRUE");
        ROS_INFO("Transform: [%.2f, %.2f, %.2f]",
                 transformStamped.transform.translation.x,
                 transformStamped.transform.translation.y,
                 transformStamped.transform.translation.z);
    }
    else
    {
        ROS_INFO("canTransform: FALSE");
    }
}
catch (tf2::TransformException &ex)
{
    ROS_WARN("%s", ex.what());
    ros::Duration(1);
}