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<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="false"/>
<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="JoystickControl" name="JoystickController" output="screen">
</node>
<node pkg="rosbag" type="record" name="rosbag_record_standard_data" respawn="true" output="screen" args="-O $(find bobble_controllers)/test/data/drive_square_js_response /bobble/bobble_balance_controller/bb_controller_status" />
<node pkg="rosbag" type="play" name="rosbag_play_drive_square_cmds" required="true" output="screen" args="$(find bobble_controllers)/test/drive_square_js_cmds.bag"/>
<test test-name="BobbleIntegrationTest" pkg="bobble_controllers" type="BobbleIntegrationTest.py" time-limit="105.0">
<param name="run_length_s" value="100.0"/>
</test>
</launch>
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