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Hi

Boris:
Since static_transform_publisher can be used only to set up transformation between fixed (w.r.t. each other) frames you have to use something like this in your node:

Well is use static_transform_publisher, because in my case odom -> map is static, only two 90° rotations.

I use this in my launch file:

<node pkg="tf" type="static_transform_publisher" name="odom_to_map"
    args="0.1 0  0  -1.570796327 0 -1.570796327  /map /odom 100" />

Search fpr static_transform_publisher in the ROS docu.