Why is the static_transform_broadcaster_node (tf2_ros) not built as an executable

edit

Thank you for the answer. Yes, that is what I mentioned and it is now the only way to publish the static transform directly without implementing something by myself. But they also have this node implemented - and my question is why that node cannot be used directly (using ros2 run, with a yaml param file).

The command line tool could be extended to accept the parameters. The node that you point to is designed as a Component and is expected to be run inside of a container and you pass the parameters to it there.

There's a tutorial here: http://docs.ros.org/en/rolling/Tutori... and you would typically want to use it with a launch file: http://docs.ros.org/en/rolling/Tutori...

Thank you! I have very little experience with components and composable nodes, so I did not know I can look for that. I resolved it like this:

in launch file add to LaunchDescription

ComposableNodeContainer(
    name='tf_container',
    package='rclcpp_components',
    executable='component_container',
    namespace='',
    composable_node_descriptions=[
        ComposableNode(
            package='tf2_ros',
            plugin='tf2_ros::StaticTransformBroadcasterNode',
            name='tf_publisher',
            parameters=[tf_params])
    ],
    output='screen',
)

where tf_params yaml file looks like

tf_publisher:
  ros__parameters:
    frame_id: world
    child_frame_id: map
    translation.x: 0.0
    translation.y: 0.0
    translation.z: 0.0
    rotation.x: 0.0
    rotation.y: 0.0
    rotation.z: 0.0
    rotation.w: 1.0