My apologies. I'd somehow completely missed you were actually asking about/for a suitable xacro/urdf for testing, instead of how to test.
> Are there any simple xacro files for testing or even a parametrizable robot description?
I'm not entirely sure I understand what you are asking for, but nodes such as `joint_state_publisher` include a nr of small urdfs that are used in the tests that accompany it. See [ros/joint_state_publisher/joint_state_publisher/test](
https://github.com/ros/joint_state_publisher/tree/dc9205b1b92d3d51351ab89ba2cb4536f1124114/joint_state_publisher/test). The test suite for `xacro` is another: [ros/xacro/test](
https://github.com/ros/xacro/tree/0ae956da439bde5dc3fe19d9abc06c618a5ef6e9/test).
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