<?xml version="1.0"?>
<launch>
  <!-- Load common test stuff -->
  <include file="$(find diff_drive_controller)/test/diff_drive_common.launch" />

  <!-- Override robot_description with bad urdf -->
  <param name="robot_description"
         command="$(find xacro)/xacro '$(find diff_drive_controller)/test/diffbot_square_wheels.xacro'" />
  <!-- Don't provide the radius parameter, so the controller should break -->
  <!-- <param name="diffbot_controller/wheel_radius" value="0.11"/> -->

  <!-- Controller test -->
  <test test-name="diff_drive_wheel_radius_param_fail_test"
        pkg="diff_drive_controller"
        type="diff_drive_fail_test"
        time-limit="10.0">
    <remap from="cmd_vel" to="diffbot_controller/cmd_vel" />
    <remap from="odom" to="diffbot_controller/odom" />
  </test>
</launch>
