diff --git a/launch/pub_test.launch b/launch/pub_test.launch
new file mode 100644
index 0000000000..5475b82216
--- /dev/null
+++ b/launch/pub_test.launch
@@ -0,0 +1,8 @@
+<launch>
+  <include file="$(find px4)/launch/mavros_posix_sitl.launch"/>
+  <param name="pub_test/topic" value="/mavros/local_position/pose"/>
+  <param name="pub_test/hz" value="30.0"/>
+  <param name="pub_test/hzerror" value="1.0"/>
+  <param name="pub_test/test_duration" value="10.0"/>
+  <test test-name="pub_test" pkg="rostest" type="hztest" name="pub_test"/>
+</launch>