Maybe standard tf2 library will suit you - there you have a nice tutorial from Nav2 documentation:

https://navigation.ros.org/setup_guides/transformation/setup_transforms.html

(...)

Now let’s try publishing a very simple transform using the static_transform_publisher tool provided by TF2. We will be publishing a transformation from the link base_link to the link base_laser with a translation of (x: 0.1m, y: 0.0m, z: 0.2m). Note that we will be building the transform from the diagram earlier in this tutorial.

Open up your command line and execute the following command:

ros2 run tf2_ros static_transform_publisher 0.1 0 0.2 0 0 0 base_link base_laser

With this, we are now sucessfully publishing our base_link to base_laser transform in TF2. Let us now check if it is working properly through tf2_echo. Open up a separate command line window and execute the following:

ros2 run tf2_ros tf2_echo base_link base_laser

You should be able to observe a repeated output simiar to the one below.

At time 0.0
- Translation: [0.100, 0.000, 0.200]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]