ROS node which broadcasts periodically frames getting from python?

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Hi!

Is there a ROS node which I can send with python a frame similar to the addTf() command and the node broadcasts this frame all the time? I want to create, modify and delete frames in one program run/sequenze without broadcast it periodically by myself. So the static_transform_publisher is not the right choice for me.

<node pkg="tf" type="static_transform_publisher" name="app_bcast" args= "0.0 0.0 0.0 0.0 0.0 0.0 1.0 p_frame c_frame 100" />

Thanks in advance!

nico