Does the transform between several sensors need to be included in the final launch file of the robot?

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Thanks for your response!

The reference sensor is a lidar which spins around and the child frames are three different radars. So from what i've seen (this is an existing project) the static transform publisher is given in the launch file. So the transforms have been given for each sensor to it's parent frame, which is the Lidar. So I don't think that this project has an URDF file since the TF publisher is added inside of the launch file.

I'm not sure I follow entirely, if I understand correctly, you have a launch file that contains static transform publishers, and you want to override them?

Yeah, so I have a launch file that contains static transform publishers. Now I was wondering if these static transform publishers which are given in the launch file override the static transform publishers which are given in the sensor nodes themselves. And also if this is good practise to provide static transform publishers inside of the launch file. Because each sensor node has their own static transform publisher from what I have seen, and then in the launch file the static transform publisher is given for each sensor relative to it's parent frame.

Having multiple static transform publishers will make tf frames jump between locations, since the frame is being broadcast by different topic publishers. A good practice is to have URDF and robot_state_publisher set up, since then you have all the frames in single file.