Does navsat_transform_node Require Constant Subscription to odometry/filtered?

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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).