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<launch>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="Plus" args="load test_nodelet/Plus standalone_nodelet">
<param name="value" type="double" value="2.1"/>
</node>
<node pkg="nodelet" type="nodelet" name="plus_remap" args="load test_nodelet/Plus standalone_nodelet">
<param name="value" type="double" value="2.1"/>
<remap from="/plus_remap/out" to="remapped_output"/>
</node>
<rosparam param="Plus2" file="$(find test_nodelet)/plus_default.yaml"/>
<node pkg="nodelet" type="nodelet" name="Plus2" args="load test_nodelet/Plus standalone_nodelet" output="screen">
<rosparam file="$(find test_nodelet)/plus_default.yaml"/>
</node>
<node pkg="nodelet" type="nodelet" name="Plus3" args="standalone test_nodelet/Plus" output="screen">
<param name="value" type="double" value="2.5"/>
<remap from="Plus3/in" to="Plus2/out"/>
</node>
<test test-name="plus_local" pkg="test_nodelet" type="plus_local.py" />
</launch>
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