static tf broadcaster: workaround transient local durability

Transient local durability will be supported in Eloquent. This patch
workaround this issue till adaption to Eloquent.

ros2/geometry2#183

Signed-off-by: Sharron LIU <sharron.liu@intel.com>

realsense_ros/include/realsense/rs_base.hpp

@@ -102,7 +102,7 @@ class RealSenseBase
   std::string base_frame_id_;
 
   std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;
-
+  rclcpp::TimerBase::SharedPtr timer_;
   std::map<stream_index_pair, bool> enable_ = {{COLOR, false}, {DEPTH, false},
                                                {INFRA1, false}, {INFRA2, false},
                                                {ACCEL, false}, {GYRO, false},
@@ -119,4 +119,4 @@ class RealSenseBase
   rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
 };
 }  // namespace realsense
-#endif  // REALSENSE__RS_BASE_HPP_
+#endif  // REALSENSE__RS_BASE_HPP_

realsense_ros/src/rs_base.cpp

@@ -51,7 +51,11 @@ void RealSenseBase::startPipeline()
 
   if (enable_[DEPTH] == true) {
     auto base_profile = p_profile.get_stream(RS2_STREAM_DEPTH, 0);
-    publishStaticTransforms(base_profile, active_profiles);
+    auto pub_tf = [this, base_profile, active_profiles]() -> void {
+      this->publishStaticTransforms(base_profile, active_profiles);
+    };
+
+    timer_ = node_.create_wall_timer(std::chrono::seconds(1), pub_tf);
   } else if (enable_[POSE] == true) {
     auto base_profile = p_profile.get_stream(RS2_STREAM_POSE, 0);
     publishStaticTransforms(base_profile, active_profiles);
@@ -270,7 +274,7 @@ void RealSenseBase::composeTFMsgAndPublish(const rclcpp::Time & t, const Float3
                                            const std::string & to)
 {
   geometry_msgs::msg::TransformStamped msg;
-  RCLCPP_INFO(node_.get_logger(), "Publish Static TF from %s to %s", from.c_str(), to.c_str());
+  RCLCPP_DEBUG(node_.get_logger(), "Publish Static TF from %s to %s", from.c_str(), to.c_str());
   msg.header.stamp = t;
   msg.header.frame_id = from;
   msg.child_frame_id = to;