<launch>

  <node name="talker_0"
        pkg="rospy" type="talker.py">
    <remap from="chatter" to="~output" />
  </node>

  <node name="talker_1"
        pkg="rospy" type="talker.py">
    <remap from="chatter" to="~output" />
  </node>

  <node name="talker_2"
        pkg="rostest" type="just_advertise">
    <rosparam>
      msg_name: std_msgs/String
    </rosparam>
  </node>

  <test name="publishtest"
        test-name="publishtest"
        pkg="rostest" type="publishtest">
    <rosparam>
      topics:
        - name: talker_0/output
          timeout: 10
          negative: False
        - name: talker_1/output
        - name: talker_2/output
          timeout: 3
          negative: True
    </rosparam>
  </test>

</launch>
