<launch>

  <rosparam file="$(find roslaunch)/test/params.yaml" command="load" />
  <rosparam file="$(find roslaunch)/test/dump.yaml" command="dump" />
  
  <group ns="rosparam">
    <rosparam file="$(find roslaunch)/test/params.yaml" command="load" />
    <rosparam file="$(find roslaunch)/test/dump2.yaml" command="dump" />    
  </group>

  <node pkg="package" type="test_base" name="node_rosparam">
    <rosparam file="$(find roslaunch)/test/params.yaml" command="load" />      
  </node>

  <group ns="rosparam_subst">
    <rosparam file="$(find roslaunch)/test/params_subst.yaml" command="load" subst_value="true" />
  </group>

  <rosparam param="inline_str">value1</rosparam>
  <rosparam param="inline_list">[1, 2, 3, 4]</rosparam>  
  <rosparam param="inline_dict">{key1: value1, key2: value2}</rosparam>    
  <rosparam param="inline_dict2">
     key3: value3
     key4: value4
  </rosparam>

  <rosparam param="inline_subst" subst_value="true">$(anon foo)</rosparam>
  
  <rosparam param="override">{key1: value1, key2: value2}</rosparam>
  <rosparam param="override">{key1: override1}</rosparam>  

  <!-- no key tests -->
  <rosparam>
    noparam1: value1
    noparam2: value2
  </rosparam>
  
  <!-- #3580: make sure angle/deg conversions work -->
  <rosparam param="dict_degrees">
    deg0: deg(0)
    deg180: deg(180)
    deg360: deg(360)
  </rosparam>
  <rosparam param="dict_rad">
    rad0: rad(0)
    radpi: rad(pi)
    rad2pi: rad(2*pi)
  </rosparam>

  <rosparam param="inline_degrees0">deg(0)</rosparam>
  <rosparam param="inline_degrees180">deg(180)</rosparam>
  <rosparam param="inline_degrees360">deg(360)</rosparam>

  <rosparam param="inline_rad0">rad(0)</rosparam>
  <rosparam param="inline_radpi">rad(pi)</rosparam>
  <rosparam param="inline_rad2pi">rad(2*pi)</rosparam>

  <!-- allow empty files. we test absense of loading in test-rosparam-empty.
       Here we include to make sure this doesn't blank out other parameters -->
  <rosparam file="$(find roslaunch)/test/params_empty1.yaml" command="load" />
  <rosparam file="$(find roslaunch)/test/params_empty2.yaml" command="load" />
  <rosparam command="load"/>


</launch>

