Backport of #673 ("Adding static transform listener") to jazzy with ABI compatibility preserved (backport #927)

[mergify]

Description

This backport adds support for a static-only transform listener in jazzy without changing the existing ABI surface.

ABI note:
the new static_only behavior is exposed via an added overload
(rather than a new default parameter on the existing ctor as in #673), so
the jazzy ABI is preserved for existing binaries.

Minor deviations from #673:
Test cleanups: fixed an empty-body test, renamed tfl→stfl, switched static lookupTransform calls to tf2::TimePointZero.

Is this user-facing behavior change?

Existing code using TransformListener is unaffected. New StaticTransformListener is available as in #673.

Did you use Generative AI?

Yes — Claude (Opus 4.7)

Additional Information

See #673 for the original motivation (#662).

CC: @ahcorde

---

This is an automatic backport of pull request #927 done by Mergify.

[mergify]

Cherry-pick of b950c7e has failed:

On branch mergify/bp/kilted/pr-927
Your branch is up to date with 'origin/kilted'.

You are currently cherry-picking commit b950c7e.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   tf2_ros/include/tf2_ros/transform_listener.hpp
	modified:   tf2_ros/src/transform_listener.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   tf2_ros/test/test_transform_listener.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[ahcorde]

@araitaiga do you mind to take a look ?

[ahcorde]

Pulls: #947
Gist: https://gist.githubusercontent.com/ahcorde/84aa0083f6927d9587b35e6a0ffadb1b/raw/5d250d0dad89c37a639c8f6a419af06d81410b43/ros2.repos
BUILD args: --packages-above-and-dependencies tf2_ros
TEST args: --packages-above tf2_ros
ROS Distro: kilted
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19532

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[mergify]

Tick the box to add this pull request to the merge queue (same as @mergifyio queue).

• Queue this pull request