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<launch>
<node pkg="tf" type="static_transform_publisher" name="tf_sample1"
args="1 0 0 0 0 0 parent1 child1 100"/>
<node pkg="tf" type="static_transform_publisher" name="tf_sample2"
args="0 1 0 0 0 0 parent2 child2 100"/>
<node pkg="jsk_topic_tools" type="specific_transform_publisher" name="sample_specific_transform_publisher" output="screen">
<rosparam>
parent_frame:
- "/parent1"
- "/parent2"
child_frame:
- "/child1"
- "/child2"
</rosparam>
</node>
</launch>
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