text: from pyrostest import RosTest, with_launch_file, launch_node
  import numpy as np
  
  from sensor_msgs.msg import Joy
  from buzzmobile.msg import CarPose
  from buzzmobile.msg import CarState
  
  class TestCarState(RosTest):
  
      @with_launch_file('buzzmobile', 'test_params.launch')
      @launch_node('buzzmobile', 'controller')
      def test_state(self):
          with self.mock_pub('/joy', Joy, queue_size=0) as joy_node:
              with self.check_topic('/buzzmobile/car_state', CarState) as cs:
                  # Ensure starts in Start Mode
                  assert True
                  # TODO(cole): finish writing test
  