[Discourse.ros.org] [Quality Assurance] ROS tests with robot description
What is the best way to write tests that require a robot description? Are there any simple xacro files for testing or even a parametrizable robot description?
An example of such a test would be a ROS node which collects the current joint state and represents them in a model for use in a model view. This node requires the robot description to know about the available joints and then is updated frequently with joint_states messages.