Function list_tf_messages 

pub fn list_tf_messages(
    path: impl AsRef<Path>,
    topic_name: &str,
    max_messages: usize,
) -> Rosbag2Result<Vec<Rosbag2TfMessage>>

Reads at most max_messages TFMessage payloads from one rosbag2 topic.

The SQLite source remains read-only and message order is (timestamp, id). This function decodes TF edges but does not compose them, select a root, or claim that the result belongs to another bag or sensor naming scheme.