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You can think of linear velocity as a vector with three components. If velocity is given in some frame, and you want it in another frame, it's the same as just giving the vector in the target frame's coordinate system. The tf TransformListener has a handy transform for doing this. It's called transformVector.

http://docs.ros.org/hydro/api/tf/html/c++/tf_8cpp_source.html#l00466

Put the three components of linear velocity into a vector and transform it to the target frame.

Alternatively, you can put the values in a point and just rotate them using the rotation in the target frame's transform (and only the rotation). This should work for the angular velocities as well (e.g., a robot that has positive yaw velocity in its body frame and is rolled over -90 degrees in the odom frame will have positive pitch velocity in the odom frame).