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

  <!-- Make sure to disable odom tf -->
  <rosparam>
    diffbot_controller:
      enable_odom_tf: False
  </rosparam>

  <!-- Controller test -->
  <test test-name="diff_drive_dyn_reconf_test"
        pkg="diff_drive_controller"
        type="diff_drive_dyn_reconf_test"
        time-limit="80.0">
    <remap from="cmd_vel" to="diffbot_controller/cmd_vel" />
    <remap from="odom" to="diffbot_controller/odom" />
  </test>
</launch>
