How to get desired coordinates with known static_tf?

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The transform tree keeps track of the relationship between frames, including static transforms, which you can view with rosrun rqt_tf_tree rqt_tf_tree. To access the data, there are multiple methods depending on how you want to read/use the results:

• The tf2 intro tutorial explains how to view a transform from the command line: rosrun tf tf_echo [reference_frame] [target_frame]
• The tf2 listener (C++) and tf2 listener (Python) tutorials explain how to get the transform in your own node.

If you have questions that are not answered by the tutorials, please, feel free to clarify.

Answer Part 2

Yes, tf2 enables you to transform many data types into a frame of your choosing. As this answer explains, you can use the tfBuffer::transform() function. If you have a pose as a PoseStampedmessage in base_frame but want it in other_frame, after appropriate setup, you can do something like (C++)

tf_buffer.transform(pose_in_base_frame, pose_in_other_frame, "other_frame");

or (Python)

pose_in_other_frame = tf_buffer.transform(pose_in_base_frame, "other_frame")

Here's an answer that deals with transforming a PointStamped message in Python for additional info.

If all you have are values (not an actual message), you can insert those values into a new message first.