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