Fix /tf_static not latched when replaying a rosbag (see https://answers.ros.org/question/207551/how-to-save-static-transforms-in-bag-files/?answer=207647#post-id-207647). Start this script before running a rosbag, then do: `rosbag play --clock tf_static:=tf_static_old`

republish_tf_static.py

#!/usr/bin/env python
import rospy
from tf2_msgs.msg import TFMessage
        
def callback(data):
    rospy.loginfo("Received /tf_static_old and republising latched /tf_static")
    pub.publish(data)

if __name__ == '__main__':
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber("tf_static_old", TFMessage, callback)
    pub = rospy.Publisher('tf_static', TFMessage, queue_size=10, latch=True)
    rospy.spin()