<launch>
  <node pkg="rostopic" type="rostopic" name="rostopic_pub1" 
        args="pub -r 10 input1 std_msgs/String chatter"/>
  <node pkg="rostopic" type="rostopic" name="rostopic_pub2" 
        args="pub -r 5 input2 std_msgs/String chatter"/>

  <!-- Explicit output name -->
  <node pkg="topic_tools" type="mux" name="mux_explicit"
        args="output input1 input2"/>
  <node pkg="topic_tools" type="mux_select" name="mux_select" 
        args="mux __none"/>
  <test test-name="switch_mux_none_hztest_explicit" pkg="rostest" type="hztest">
    <param name="topic" value="output"/>
    <param name="hz" value="0.0"/>
    <param name="hzerror" value="0.5"/>
    <param name="test_duration" value="2.0" />
  </test>

</launch>
