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This code works ...though it is not a direct solution to the missing API.

   node = roslaunch.core.Node("tf", "static_transform_publisher",  "tran_4",   args="-0.13 0.13 0.1 0 0 0 1 base_link right_wheel 100")
     launch = roslaunch.scriptapi.ROSLaunch()
     launch.start()
     process = launch.launch(node)

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