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I think the problem is that instead of using the transform directly you are broadcasting it via tf and the in the next line using the transformlistener. But the listener needs some (small) time to receive the transform, and thus gives the exception.

Whatever your project class does, might be easier to do direclty with the appropriate transform (without broadcasting it first). If you want to proceed this way, maybe a waitForTransform call fixes the issue, but be aware that the transform should actually have been broadcast to be able to wait for it.