<launch>

  <!-- no local params -->
  <node pkg="pkg" type="type0" name="node0"/>

  <group ns="group1">
    <!-- basic test, named nodes -->
    <node pkg="pkg" type="gtype0" name="g1node0" />
    <param name="~gparam1" value="val1" />
    <node pkg="pkg" type="g1type1" name="g1node1" />
    <param name="~gparam2" value="val1" />
    <node pkg="pkg" type="g1type2" name="g1node2" />
  </group>

  <!-- make sure scope is cleared by end of group -->
  <param name="~param1" value="val1" />
  <node pkg="pkg" type="type1" name="node1" />

  
</launch>
