Make /tf_static usable in rosbags

bag_tf_static_to_tf.py

import rospy
import rosbag

inpath  = '/path/to/original/bag.bag'
outpath = '/path/to/output/bag.bag'
trigger = lambda topic, msg, _: topic == '/tf'  and msg.transforms[0].header.frame_id == '/world'

inbag = rosbag.Bag(inpath)

tf_static_messages = list(inbag.read_messages(('/tf_static')))

with rosbag.Bag(outpath, 'w') as outbag:
    for topic, msg, t in inbag:
        if trigger(topic, msg, t):
            for tsm in tf_static_messages:
                for tsmtr in tsm.message.transforms:
                    tsmtr.header.stamp = t
                outbag.write('/tf', tsm.message, t-rospy.Duration(0.1))
        outbag.write(topic, msg, t)