text: #!/usr/bin/env python
  import yaml
  import sys
  import os
  
  f = open(sys.argv[1])
  transform_stamped = yaml.safe_load(f)
  command = 'rosrun tf2_ros static_transform_publisher '\
          '%f %f %f %f %f %f %f %s %s' % (transform_stamped['transform']['translation']['x'],\
          transform_stamped['transform']['translation']['y'],\
          transform_stamped['transform']['translation']['z'],\
          transform_stamped['transform']['rotation']['x'],\
          transform_stamped['transform']['rotation']['y'],\
          transform_stamped['transform']['rotation']['z'],\
          transform_stamped['transform']['rotation']['w'],\
          transform_stamped['header']['frame_id'],\
          transform_stamped['child_frame_id'])
  
  print command
  ret = os.system(command)
  print ret
  