<launch>
  <param name="use_sim_time" value="True"/>
  <node pkg="rostopic" type="rostopic" name="rostopic_pub" 
        args="pub -r 20 input std_msgs/String chatter"/>

  <!-- Automatic output name -->
  <node pkg="topic_tools" type="throttle" name="throttle"
        args="messages input 5">
    <param name="wall_clock" value="True"/>
  </node>
  <test test-name="throttle_simtime_hztest" pkg="rostest" type="hztest">
    <param name="topic" value="input_throttle"/>
    <param name="hz" value="5.0"/>
    <param name="hzerror" value="1.0"/>
    <param name="wall_clock" value="True"/>
    <param name="test_duration" value="2.0" />
  </test>
</launch>
