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I interpreted it to mean that the lidar is moving relative to this "fixed" frame, but you have an available transform at the time of each scan. This means that while the lidar moves through it's series of poses, the fixed coordinate frame will stay in the exact same location.

I think that the laser_assembler package does exactly this for the PR2. I'm not positive, but I believe that their static frame is "/base_link", which is the base of the PR2 chassis.