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document difference between dynamic and static ros2 frames #2631

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document difference between dynamic and static ros2 frames #2631

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2 changes: 2 additions & 0 deletions content/docs/user-guide/components/reference/ros2/core/ros2-frame.md
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Expand Up @@ -35,3 +35,5 @@ The **ROS 2 Frame** component depends on Transform Service, which is provided by
**ROS 2 Frame** component handles namespace, frame id, and joint name associated with an entity, which is a part of a robot.
Many other components such as sensors and controllers depend on it. **ROS 2 Frame** works internally with these components to
ensure namespacing of topics, sending of proper `frame_id` in each message, and broadcasting of transforms to `/tf` and `/tf_static` topics.
The transformation is continously updated and published to `/tf` if the entity contains a JointComponent (which is not a fixed joint)
or an ArticulatedComponent. Otherwise, it will be published once on the `/tf_static` topic and not updated even if the entity moves.