How to get a transformation frame from KDL Tree ROS

getKDLTransform.cpp

#include <geometry_msgs/Pose.h>
#include <kdl/tree.hpp>

bool getTransformFromKDL(KDL::Tree tree, std::string root, std::string child, geometry_msgs::Pose& pose)
{
    try 
    {
        KDL::Chain chain;
        tree.getChain(root, child, chain);
        KDL::Frame frame = chain.getSegment(0).getFrameToTip();
        pose.position.x = frame.p[0];
        pose.position.y = frame.p[1];
        pose.position.z = frame.p[2];
        frame.M.GetQuaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
        return true;
    }
    catch(std::exception& e) 
    {
        return false;
    }
}