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The static transform gets published only one time once it has all the required transforms unless a set datum service is called. In this case, the static tf from odom->utm
will be overridden taking into account the new datum.
After you determine the static tf, the odometry sub is no longer needed unless you have publish_filtered_gps
turned on. This allows you to take the /odometry/filtered
topic from the EKF and transform it into a GPS NavsatFix topic /gps/filtered
(latitude and longitude).