File: remap_tf.launch

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ros-geometry 1.13.2-3
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<launch>
  <node pkg="tf" type="tf_remap" name="tf_remapper" output="screen">
    <rosparam param="mappings">
      - {old: "/asdf",
         new: "/a"}
      - {old: "/fdsa",
         new: "/b"}
    </rosparam>
  </node>
</launch>