tf2 Tutorial: tf2 static broadcaster (C++) (ros2#1788)

* static broadcaster cpp tutorials base

* update static tf2 broadcaster tutorial

* update link placements

* intendation

* minor fixes

* reword include statements

* add more explanation of the tutorial structure in the beginning

* example in the summary

* edit example in the summary

* update summary wording

* resolve comments

* fix indentation issues

* remove empty lines

* fix links to code

Author: kurshakuz

source/Tutorials/Tf2/Tf2-Main.rst

@@ -17,6 +17,7 @@ once for C++ and once for Python.
 
    Introduction-To-Tf2
    Writing-A-Tf2-Static-Broadcaster-Py
+   Writing-A-Tf2-Static-Broadcaster-Cpp
    Writing-A-Tf2-Broadcaster-Py
    Writing-A-Tf2-Listener-Py
    Adding-A-Frame-Py
@@ -38,15 +39,15 @@ Learning tf2
    shows off some of the tf2 power in a multi-robot example using turtlesim.
    This also introduces using ``tf2_echo``, ``view_frames``, and ``rviz``.
 
-#. :ref:`Writing a tf2 static broadcaster (Python) <WritingATf2StaticBroadcasterPy>`.
+#. Writing a tf2 static broadcaster :ref:`(Python) <WritingATf2StaticBroadcasterPy>` :ref:`(C++) <WritingATf2StaticBroadcasterCpp>`.
 
    This tutorial teaches you how to broadcast static coordinate frames to tf2.
 
-#. :ref:`Writing a tf2 broadcaster (Python) <WritingATf2BroadcasterPy>`.
+#. Writing a tf2 broadcaster :ref:`(Python) <WritingATf2BroadcasterPy>`.
 
    This tutorial teaches you how to broadcast the state of a robot to tf2.
 
-#. :ref:`Writing a tf2 listener (Python) <WritingATf2ListenerPy>`.
+#. Writing a tf2 listener :ref:`(Python) <WritingATf2ListenerPy>`.
 
    This tutorial teaches you how to use tf2 to get access to frame transformations.