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The reason was tf2_ros::StaticTransformBroadcaster has a ros::publisher to publish transforms.

In the first case tf2_ros::StaticTransformBroadcaster staticBroadcaster2 go out of scope , all the callback will be stopped being callded, which is not the case for second one.

From ros::Publisher Class Reference

Once all copies of a specific Publisher go out of scope, any subscriber status callbacks associated with that handle will stop being called. Once all Publishers for a given topic go out of scope the topic will be unadvertised.