static_transform_publisher: tf vs tf2_ros

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For a discussion about static transforms I would like to refer to #q346664, which goes into quite some detail (and links to the relevant wiki pages/documentation) and #q324820.

As to the difference in command line arguments: as explained in #q346664, static transforms are not broadcast periodically.

If there is no periodic broadcast, the period argument is no longer needed.

It is probably advisable to use the tf2_ros version

Yes, and for multiple reasons:

1. it significantly reduces the traffic (ie: messages/sec) on the /tf topic for typical usage scenarios (where many frames are actually static), and
2. tf is deprecated (and has been for a long time)