kdl_parser/kdl_parser/test/test_inertia_rpy.launch

<launch>
  <test test-name="test_inertia_rpy" pkg="kdl_parser" type="test_inertia_rpy"
        args="$(find kdl_parser)/test/testInertiaRPYmodel1.urdf 
              $(find kdl_parser)/test/testInertiaRPYmodel2.urdf"
 />
</launch>