<launch>
  <param name="mapto" value="mapto_value" type="str"/>
  <test test-name="name_remapped" pkg="test_roscpp" 
        type="test_roscpp-name_remapping" 
        args="mapfrom:=mapto"/>
  
  <param name="/b/test_full" value="asdf" type="str"/>
  <param name="/a/test_local2" value="asdf" type="str"/>
  <param name="/b/test_relative" value="asdf" type="str"/>
  <test test-name="name_remapped_with_ns" 
        pkg="test_roscpp" 
        type="test_roscpp-name_remapping_with_ns" 
        ns="a" 
        args="/a/test_full:=/b/test_full /a/test_local:=test_local2 test_relative:=/b/test_relative"/>
</launch>
