cm_test.test

<launch>
  <rosparam>
    robot_hardware:
    - my_robot_hw_1
    - my_robot_hw_2
    - my_robot_hw_3
    - my_robot_hw_4
    my_robot_hw_1:
      type: combined_robot_hw_tests/MyRobotHW1
    my_robot_hw_2:
      type: combined_robot_hw_tests/MyRobotHW2
      joints:
      - test_joint4
      - test_joint5
      - hiDOF_joint1
      - hiDOF_joint2
    my_robot_hw_3:
      type: combined_robot_hw_tests/MyRobotHW3
      robot_description: robot_description
      joint_name_filter: right_arm
    my_robot_hw_4:
      type: combined_robot_hw_tests/MyRobotHW4
    my_controller:
      type: controller_manager_tests/EffortTestController
    my_controller2:
      type: controller_manager_tests/EffortTestController
    non_existent_interface_controller:
      type: controller_manager_tests/MyDummyController
    vel_eff_controller:
      type: controller_manager_tests/VelEffController
      velocity_joints:
      - test_joint1
      - test_joint2
      effort_joints:
      - test_joint4
    non_existent_resource_controller:
      type: controller_manager_tests/VelEffController
      velocity_joints:
      - test_joint1
      - test_joint2
      effort_joints:
      - nonexistent_resource
    self_conflict_controller:
      type: controller_manager_tests/VelEffController
      velocity_joints:
      - test_joint1
      - test_joint2
      effort_joints:
      - test_joint1
    optional_interfaces_controller:
      type: controller_manager_tests/PosEffOptController
      position_joints:
      - test_joint1
      - test_joint2
      effort_joints:
      - test_joint1
    non_existing_multi_interface_controller:
      type: controller_manager_tests/PosEffController
      position_joints:
      - test_joint1
      - test_joint2
      effort_joints:
      - test_joint1
  </rosparam>

  <node pkg="combined_robot_hw_tests" type="combined_robot_hw_dummy_app" name="dummy_app" />
  <test test-name="combined_robot_hw_cm_test" pkg="combined_robot_hw_tests" type="combined_robot_hw_cm_test"/>
</launch>