def METHOD_NAME(argv=sys.argv[1:]):
    ld = generate_launch_description()
    # TODO(orduno) remove duplicated definition of robots on `generate_launch_description`
    test1_action = ExecuteProcess(
        cmd=[os.path.join(os.getenv('TEST_DIR'), os.getenv('TESTER')),
             '-rs', 'robot1', '0.0', '0.5', '1.0', '0.5',
             '-rs', 'robot2', '0.0', '-0.5', '1.0', '-0.5',
             '-e', 'True'],
        name='tester_node',
        output='screen')
    lts = LaunchTestService()
    lts.add_test_action(ld, test1_action)
    ls = LaunchService(argv=argv)
    ls.include_launch_description(ld)
    return lts.run(ls)