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document difference between dynamic and static ros2 frames #2631

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Updated version for #2628 now using the development branch.

Change summary

Submission Checklist:

  • Descriptive active voice - Do descriptive sentences have a clear subject and action verb?
  • Answer the question at hand - Does the documentation answer a what, why, how, or where type of question?
  • Consistency - Does the content consistently follow the Style Guide?
  • Help the user - Does the documentation show the user something meaningful?

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