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I usually use this command in a launchfile :

      <node pkg="tf" type="static_transform_publisher" 
            name="my_tf" args="0 0 1 3.14 0 1.57 /map /my_tf 30"/>

the args are the translation for the 3 first arguments and the angles ( in Radian in an Euler form ) for the 3 last ones.

I hope this will help you