<launch>
  <node name="test_node" pkg="test_rospy" type="test_node.py" />
  <test test-name="test_rospy__global" pkg="test_rosmaster" type="test_node_api.py" />

  <group>
    <!-- test within same namespace with test_node renamed to 'test_node2' -->
    <node pkg="test_rospy" type="test_node.py" name="test_node2" />
    <test test-name="test_rospy__global_test_node2" pkg="test_rosmaster" type="test_node_api.py" args="--node=test_node2"/>
  </group>

  <!-- test with nodes within namespaces -->

  <group ns="child_namespace">
    <node name="test_node" pkg="test_rospy" type="test_node.py" />
    <test test-name="test_rospy__child_namespace" pkg="test_rosmaster" type="test_node_api.py" />

    <group ns="grandchild_namespace">
      <node name="test_node" pkg="test_rospy" type="test_node.py" />
      <test test-name="test_rospy__grandchild_namespace" pkg="test_rosmaster" type="test_node_api.py" />
    </group>

  </group>

</launch>
