The static_tf_map transform is only used if the fake localization and the map are not used.

launch/nav.launch

@@ -80,13 +80,15 @@
     </group>
   </group>
 
-  <group unless="$(arg use_map)">
-    <node pkg="tf" 
-          type="static_transform_publisher" 
-          name="static_tf_map"
-          ns="$(arg ns)"
-          args=" 0 0 0 0 0 0 $(arg map_frame_id) $(arg odom_frame_id) 100">
-    </node>
+  <group unless="$(arg use_fake_loc)">
+    <group unless="$(arg use_map)">
+      <node pkg="tf" 
+            type="static_transform_publisher" 
+            name="static_tf_map"
+            ns="$(arg ns)"
+            args=" 0 0 0 0 0 0 $(arg map_frame_id) $(arg odom_frame_id) 100">
+      </node>
+    </group>
   </group>
 
   <group if="$(arg use_fake_loc)">