Enable StaticTransformBroadcaster in Intra-process enabled components (backport #607)

[mergify]

This is an automatic backport of pull request #607 done by Mergify.
Cherry-pick of edad1bc has failed:

On branch mergify/bp/humble/pr-607
Your branch is up to date with 'origin/humble'.

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Changes to be committed:
	modified:   tf2_ros/test/test_static_transform_broadcaster.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   tf2_ros/include/tf2_ros/static_transform_broadcaster.h

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[roncapat]

May I remind you to merge this one if possible? :)

[ahcorde]

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