A frame transform publisher for ROS2

In the past when I used MAVROS a few years ago on ROS1 we had access to a few frames on RVIZ using tfs. Perhaps we can build a static and dynamic transform publisher for ROS2 using the px4_ros_com package and use a launch file to run micro-ros-agent and the transform publisher? It would be quite useful to have this feature for visualization of the static NED map frame and the vehicle frame within RVIZ2.