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I think I have a work around for launch check not supporting parameters. I’ve been going through the moveit and motoman launch files and realized that the more complicated launch files are really more like code in that they dynamically can changed based on the parameters that are passed in. Given that, I wondered if we should treat the launch check more like we treat unit tests. This is what I came up with: https://github.com/ros-industrial/motoman/blob/hydro/motoman_sia10d_support/test/launch_test.xml