<launch>
  <node name="a2iserver" pkg="test_rosmaster" type="add_two_ints_server" />
  <node name="headerserver" pkg="test_rosservice" type="header_echo_server.py" />
  <group ns="foo">
    <node name="a2iserver" pkg="test_rosmaster" type="add_two_ints_server" />
  </group>
  <group ns="bar">
    <node name="a2iserver" pkg="test_rosmaster" type="add_two_ints_server" />
  </group>
  <test test-name="rosservice_unit" pkg="test_rosservice" type="check_rosservice.py" />
</launch>
