[BUG] QoS for Static Transform Publisher

[EirikKolas]

Description of task

The static transform messages are not "latched", meaning that if a node comes alive some time after the static transform has been published, the new node won't know that the tf exists.

The QoS settings need to be changed to prevent this from happening

Specifications

• Static TFs should no longer vanish after some time

Suggested Workflow

• WTF is QoS?
• Look at this answer.
• How to set QoS
• Set the QoS Settings by passing them as ros_params in the launch file.

Contacts

• @EirikKolas