<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>
