<launch>
  <node pkg="jsk_interactive_marker" type="marker_6dof" name="marker_cube">
    <rosparam>
      frame_id: map
      object_type: cube
      object_x: 0.2
      object_y: 0.2
      object_z: 0.3
      object_r: 1.0
      object_g: 0.2
      object_b: 0.2
      object_a: 1.0
    </rosparam>
  </node>

  <node pkg="jsk_interactive_marker" type="marker_6dof" name="marker_sphere">
    <rosparam>
      frame_id: map
      object_type: sphere
      object_x: 0.2
      object_y: 0.2
      object_z: 0.3
      object_r: 0.2
      object_g: 1.0
      object_b: 0.2
      object_a: 1.0
    </rosparam>
  </node>

  <node pkg="jsk_interactive_marker" type="marker_6dof" name="marker_line">
    <rosparam>
      frame_id: map
      object_type: line
      object_x: 0.1
      object_r: 0.2
      object_g: 0.2
      object_b: 1.0
      object_a: 1.0
    </rosparam>
  </node>

  <node pkg="jsk_interactive_marker" type="marker_6dof" name="marker_mesh">
    <rosparam>
      frame_id: map
      object_type: mesh
      object_x: 1.0
      object_y: 0.5
      object_z: 1.0
      object_r: 1.0
      object_g: 0.2
      object_b: 1.0
      object_a: 1.0
      mesh_file: package://jsk_interactive_marker/models/sample_mesh.dae
    </rosparam>
  </node>

  <node pkg="rviz" type="rviz" name="rviz"
        args="-d $(find jsk_interactive_marker)/config/marker_6dof_sample.rviz" />
</launch>
