<launch>
  <!-- https://github.com/jsk-ros-pkg/jsk_common/blob/master/doc/jsk_tools/cltools/rostopic_host_sanity.rst -->
  <node name="publish_string"
        pkg="rostopic" type="rostopic"
        args="pub /hoge std_msgs/String 'data: ' -r 1">
  </node>

  <test pkg="jsk_tools" type="test_rostopic_host_sanity.py"
        test-name="rostopic_host_sanity" />
</launch>
