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

  <!-- Override with wrong controller configuration -->
  <rosparam command="load" file="$(find four_wheel_steering_controller)/test/config/four_wheel_steering_controller_4ws_cmd.yaml" />

  <!-- Controller test -->
  <test test-name="four_wheel_steering_controller_4ws_cmd_test"
        pkg="four_wheel_steering_controller"
        type="four_wheel_steering_controller_4ws_cmd_test"
        time-limit="80.0">
    <remap from="cmd_four_wheel_steering" to="four_wheel_steering_controller/cmd_four_wheel_steering" />
    <remap from="odom" to="four_wheel_steering_controller/odom" />
  </test>
</launch>
