void CurrentStateMonitorMiddlewareHandle::createDynamicTfSubscription(TfCallback callback)
{
  transform_subscriber_ =
      node_->create_subscription<tf2_msgs::msg::TFMessage>("/tf", tf2_ros::DynamicListenerQoS(), callback);
}

void CurrentStateMonitorMiddlewareHandle::createStaticTfSubscription(TfCallback callback)
{
  static_transform_subscriber_ =
      node_->create_subscription<tf2_msgs::msg::TFMessage>("/tf_static", tf2_ros::StaticListenerQoS(), callback);
}