16 lines
587 B
XML
16 lines
587 B
XML
<?xml version="1.0"?>
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<launch>
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<param name="robot_description" textfile="$(find joint_state_publisher)/test/mimic_chain.urdf"/>
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<node pkg="joint_state_publisher" type="joint_state_publisher" name="dut_joint_state_publisher">
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<param name="rate" value="10"/>
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</node>
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<test pkg="rostest" type="hztest" name="hztest" test-name="hztest_mimic_chain">
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<param name="topic" value="joint_states"/>
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<param name="hz" value="10"/>
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<param name="hzerror" value="0.1"/>
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<param name="test_duration" value="10"/>
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<param name="wait_time" value="10"/>
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</test>
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</launch>
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