def METHOD_NAME(self):
    buffer_client = tf2_ros.BufferClient(
        self.node, '/tf_action', check_frequency=10.0, timeout_padding=0.0)
    p1 = PointStamped()
    p1.header.frame_id = "a"
    p1.header.stamp = rclpy.time.Time(seconds=1.0).to_msg()
    p1.point.x = 0.0
    p1.point.y = 0.0
    p1.point.z = 0.0
    buffer_client.action_client.wait_for_server()
    try:
        p2 = buffer_client.transform(p1, "b", timeout=rclpy.time.Duration(seconds=1))
        self.node.get_logger().info("p1: %s, p2: %s" % (p1, p2))
    except tf2.TransformException as e:
        self.node.get_logger().error("%s" % e)
        self.assertEqual(0, 4)