[ros-users] [Discourse.ros.org] [Quality Assurance] ROS tests with robot description

[gavanderhoorn]

This sounds like what [rostest](http://wiki.ros.org/rostest) is for.

If you're not aware, rostests are basically launch files, but launched by a special `roslaunch` wrapper that is specifically intended to be able to test nodes in a (mini) application context.

Populating the `robot_description` parameter (or any parameter really) is done in exactly the same way as you would in a regular launch file.

> This node requires the robot description to know about the available joints and then is updated frequently with joint_states messages.

The rostest could also start a second node that generates those joint states.





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