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Yes, there are standard tools such as robot_state_publisher which will take a definition of a "robot" and publish tf frames.

It's designed to take in a URDF which you can generate from your SDF. With a tool like sdf2urdf And if everything is static you won't need to worry about joint_states

There's ongoing work to also reduce or remove the need for the SDF to URDF conversion too.

https://github.com/ros/sdformat_urdf