kdl_parser/robot_state_publisher/test/test_publisher.launch

<launch>
  <node pkg="rosrecord" name="rosplay" type="rosplay" args="$(find robot_state_publisher)/test/joint_states.bag" />

  <test test-name="test_publisher" pkg="robot_state_publisher" type="test_publisher" args="$(find robot_state_publisher)/test/pr2.urdf" />
</launch>