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Please see the following line taken from the above code:

transform_stamped = tf_buffer_.lookupTransform(in_target_frame, in_cloud_ptr->header.frame_id,
                                               in_cloud_ptr->header.stamp, ros::Duration(1.0));

The error you are receiving is due to empty target frame, i.e., in_target_frame. Therefore, please run a debugger or add a print statement to confirm its value.