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TF Listener for static transforms exclusively

Is there a way to listen to only the static transforms in a TF tree (e.g. base_link --> base_laser_link) without instantiating an entire tf::TransformListener object, which "receives and buffers all coordinate frames that are broadcasted in the system" ? Can tf::MessageFilters be used for something like that?

TF Listener for static transforms exclusively

Is there a way to listen to only the static transforms in a TF tree (e.g. base_link --> base_laser_link) without instantiating an entire tf::TransformListener object, which "receives and buffers all coordinate frames that are broadcasted in the system" ? Can tf::MessageFilters be used for something like that?