Ros2, 4.2.0 Microstrain driver publishes periodically to tf_static instead of tf

[vinnnyr]

I have recently updated to Driver 4.2.0, and I am getting unexpected behavior on my system due to the driver publishing periodically on /tf_static , typically reserved for "unchanging" transforms.

See: Section 4.8 http://wiki.ros.org/tf2 on tf_static v.s. tf.

I propose the frequently updating, periodic transforms get published to /tf rather than /tf_static and the static transformation (sensor->odometer_link ) get published once, since that is expected to be unchanging.

I can see that sensor->gnss_1_antenna_link sensor->gnss_2_antenna_link and sensor->odometry_link are being published . The sensor->gnss_*_antenna links are changing (maybe because of antenna calibration).

transforms:
- header:
    stamp:
      sec: 1713981065
      nanosec: 381180072
    frame_id: sensor
  child_frame_id: gnss_1_antenna_link
  transform:
    translation:
      x: 0.02978402527514845
      y: -0.00020700725144706666
      z: 0.14986532399780117
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
- header:
    stamp:
      sec: 1713981065
      nanosec: 381417655
    frame_id: sensor
  child_frame_id: gnss_2_antenna_link
  transform:
    translation:
      x: -1.310959527589148
      y: -0.0001696325052762404
      z: 0.2297012535855174
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
- header:
    stamp:
      sec: 1713979389
      nanosec: 769265534
    frame_id: sensor
  child_frame_id: odometer_link
  transform:
    translation:
      x: 0.0
      y: 0.0
      z: 0.0
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
---

https://github.com/LORD-MicroStrain/microstrain_inertial_driver_common/blob/6d62789b0492e28a0e4b86be8b4dc0e562d08a5e/src/publishers.cpp#L1740C34-L1740C47

I think this is one o the offending lines?