diff --git a/tf2_ros/src/tf2_ros/buffer.py b/tf2_ros/src/tf2_ros/buffer.py
index 2f0e5660bc..0959329a23 100644
--- a/tf2_ros/src/tf2_ros/buffer.py
+++ b/tf2_ros/src/tf2_ros/buffer.py
@@ -218,6 +218,18 @@ def can_transform_full(self, target_frame, target_time, source_frame, source_tim
             return core_result
         return core_result[0]
 
+    def _wait_for_transform_async(self, target_Frame, source_frame, time, callback):
+        fut = rclpy.task.Future()
+        if self.can_transform_core(target_frame, source_frame, time)[0]:
+            # Short cut, the transform is available
+            fut.set_result(True)
+            return fut
+
+        self._new_data_callbacks.append(callback)
+        fut.add_done_callback(lambda _: self._remove_callback(callback))
+
+        return fut
+
     def wait_for_transform_async(self, target_frame, source_frame, time):
         """
         Wait for a transform from the source frame to the target frame to become possible.
@@ -228,12 +240,6 @@ def wait_for_transform_async(self, target_frame, source_frame, time):
         :return: A future that becomes true when the transform is available
         :rtype: rclpy.task.Future
         """
-        fut = rclpy.task.Future()
-        if self.can_transform_core(target_frame, source_frame, time)[0]:
-            # Short cut, the transform is available
-            fut.set_result(True)
-            return fut
-
         def _on_new_data():
             try:
                 if self.can_transform_core(target_frame, source_frame, time)[0]:
@@ -241,10 +247,8 @@ def _on_new_data():
             except BaseException as e:
                 fut.set_exception(e)
 
-        self._new_data_callbacks.append(_on_new_data)
-        fut.add_done_callback(lambda _: self._remove_callback(_on_new_data))
+        return _wait_for_transform_async(self, target_frame, source_frame, time, _on_new_data)
 
-        return fut
 
     def wait_for_transform_full_async(self, target_frame, target_time, source_frame, source_time, fixed_frame):
         """
@@ -275,3 +279,6 @@ def _on_new_data():
         fut.add_done_callback(lambda _: self._remove_callback(_on_new_data))
 
         return fut
+
+    def wait_for_transform(target_frame, source_frame, time, callback):
+        return _wait_for_transform_async(target_frame, source_frame, time, callback)