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The static transformations are published on /tf_static, so just listen to them. But as you care about bandwith, you should have a look at the tf2_ros buffer_server. This node listens to /tf and /tf_static and runs an action server that you can use to get transformations so that your node does not listen to /tf(_static) but only asks the buffer_server if it needs a transformation.

The static transformations are published on /tf_static, so just listen to them. But as you care about bandwith, bandwidth, you should have a look at the tf2_ros buffer_server. This node listens to /tf and /tf_static and runs an action server that you can use to get transformations so that your node does not listen to /tf(_static) but only asks the buffer_server if it needs a transformation. transformation.