<launch>
  <node pkg="rostopic" type="rostopic" name="rostopic_pub" 
        args="pub -r 10 input std_msgs/String chatter"/>

  <!-- Automatic output name -->
  <node pkg="topic_tools" type="drop" name="drop"
        args="input 1 2"/>
  <test test-name="drop_hztest" pkg="rostest" type="hztest">
    <param name="topic" value="input_drop"/>
    <param name="hz" value="5.0"/>
    <param name="hzerror" value="0.5"/>
    <param name="test_duration" value="2.0" />
  </test>

  <!-- Explicit output name -->
  <node pkg="topic_tools" type="drop" name="drop_explicit"
        args="input 1 2 output"/>
  <test test-name="drop_hztest_explicit" pkg="rostest" type="hztest">
    <param name="topic" value="output"/>
    <param name="hz" value="5.0"/>
    <param name="hzerror" value="0.5"/>
    <param name="test_duration" value="2.0" />
  </test>

</launch>
