<launch>

  <node pkg="rostopic" type="rostopic" name="input"
        args="pub /input std_msgs/String 'data: spam' -r 10">
  </node>

  <node name="simple_lazy_string_transport"
        pkg="topic_tools" type="simple_lazy_transport.py">
    <remap from="~input" to="input" />
    <param name="~lazy" value="true" />
    <rosparam>
      msg_name: std_msgs/String
    </rosparam>
  </node>

  <test test-name="test_lazy_transport"
        name="test_lazy_transport"
        pkg="topic_tools" type="test_lazy_transport.py"
        retry="3">
    <remap from="~input" to="simple_lazy_string_transport/output" />
    <rosparam>
      input_topic_type: std_msgs/String
      check_connected_topics: [simple_lazy_string_transport/output, input]
      wait_for_connection: 3
    </rosparam>
  </test>

</launch>
