<launch>
  <param name="dynamic_tf_publisher/tf_publisher" type="str"
         value="transforms: [{header: {frame_id: &quot;map&quot;}, child_frame_id: &quot;robot&quot;, transform: {rotation: {w: 1.0}}}]" />
  <include file="$(find dynamic_tf_publisher)/samples/sample.launch" />

  <test
      pkg="jsk_topic_tools"
      type="test_static_tf_republisher.py"
      name="test_dynamic_tf_republisher"
      test-name="test_dynamic_tf_republisher"
      time-limit="20" >
    <rosparam>
      frame_id_target: "hand"
      frame_id_source: "map"
    </rosparam>
  </test>
</launch>
