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I think rosbag only records topics that are actually publishing messages. From what I can tell, /tf_static is only used by new tf2 publishers, and very few packages currently make use of it.

I would verify that there are messages published on /tf_static before worrying that they're not being recorded.

If you do have a node publishing messages to /tf_static and they're not being recorded, that's probably a bug in rosbag.

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