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Hi all! I have asked in the lab and eventually the problem is solved. The problems were in 2 different places. The first one was that I used the ros::Time(0) instead of the timestamp already provided my info message from the camera i.e. info_msg->header.stamp. The second one was that I got confused with the order of the topics to give into the "lookuptransform" function. The correct order should be (as suggested by @Mac):

listener.lookupTransform( "/odom_combined",filteredCloud->header.frame_id, time, transform);

After that I get the expected result. Thanks everyone for help.