current tests refactored, code reused, shortened, touch: #126
current tests refactored, code reused, shortened, touch: #126

EndPointCorp/lg_ros_nodes,EndPointCorp/lg_ros_nodes,EndPointCorp/lg_ros_nodes,EndPointCorp/lg_ros_nodes,EndPointCorp/lg_ros_nodes,EndPointCorp/lg_ros_nodes