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Now we want to use the urdf approach, i.e.
robot_state_publisher. This is also publishing TF. So this should be now our source for tf, right? No need for thestatic_transform_publisher? (I think it will even interfere)
In short: yes, TF frames should preferably have only one backing publisher.
If you have a urdf, robot_state_publisher (RSP) can do that for you, no need for static_transform_publisher (STP).
You're not required to use RSP though, you can use URDF and still use STP as well.
One advantage of the RSP over STP is that the former will listen to JointState msgs (on the joint_states topic) and update the frames it knows about (from your urdf) using FK. That is something STP cannot do.
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