v01

thirdparty/ros/ros_comm/tools/rostest/test/publishtest.test

@@ -0,0 +1,35 @@
+<launch>
+
+  <node name="talker_0"
+        pkg="rospy" type="talker.py">
+    <remap from="chatter" to="~output" />
+  </node>
+
+  <node name="talker_1"
+        pkg="rospy" type="talker.py">
+    <remap from="chatter" to="~output" />
+  </node>
+
+  <node name="talker_2"
+        pkg="rostest" type="just_advertise">
+    <rosparam>
+      msg_name: std_msgs/String
+    </rosparam>
+  </node>
+
+  <test name="publishtest"
+        test-name="publishtest"
+        pkg="rostest" type="publishtest">
+    <rosparam>
+      topics:
+        - name: talker_0/output
+          timeout: 10
+          negative: False
+        - name: talker_1/output
+        - name: talker_2/output
+          timeout: 3
+          negative: True
+    </rosparam>
+  </test>
+
+</launch>