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<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="false"/>
<!-- Load common test stuff -->
<include file="$(find bobble_controllers)/test/common.launch">
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<rosparam file="$(find bobble_controllers)/test/good_balance_control_config.yaml" command="load"/>
<node pkg="bobble_controllers" type="ApplyImpulse" name="ApplyImpulse" output="screen" required="true">
<param name="impulse" value="-2000.0"/>
<param name="data_output_file" value="$(find bobble_controllers)/test/data/impulse_force"/>
<param name="run_length_s" value="10.0"/>
</node>
<test test-name="BobbleIntegrationTest" pkg="bobble_controllers" type="BobbleIntegrationTest.py" time-limit="45.0">
<param name="run_length_s" value="30.0"/>
</test>
</launch>
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