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This will make more sense if I explain how the TF system works because even static transforms need broadcasting at regular intervals.

ROS components that are consumers of TF information use a TF listener, this listener is created not knowing any transforms. It listens to the TF topic and over time receives TF messages which allow it to fill up a buffer of TF information so it can solve TF queries. So if a TF isn't being regularly broadcast, even if it's static, then consumers of TF information will not know that TF exists. This is the reason why you specify a frequency when creating a static transform publisher node.

As such there is not concept of 'deleting' a transform. But if it's no longer published eventually it will no longer be present in the TF buffers of all registered listener objects, at this point it effectively no longer exists.

Hope this makes sense.