<launch>

  <arg name="gui" default="true" />
  <arg name="gpu" default="-1" />
  <arg name="use_usb_cam" default="false" />
  <arg name="with_depth" default="false"  />
  <arg name="INPUT_IMAGE" default="/usb_cam/image_raw" if="$(arg use_usb_cam)" />
  <arg name="INPUT_IMAGE" default="/kinect_head/rgb/image_rect_color" unless="$(arg use_usb_cam)" />
  <arg name="INPUT_DEPTH_IMAGE" default="/kinect_head/depth_registered/hw_registered/image_rect" />
  <arg name="INPUT_CAMERA_INFO" default="/kinect_head/rgb/camera_info" />

  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node"
        if="$(arg use_usb_cam)" >
  </node>

  <include file="$(find jsk_perception)/sample/include/play_rosbag_hand.xml"
           unless="$(arg use_usb_cam)" />

  <include file="$(find jsk_perception)/launch/hand_pose_estimation_2d.launch">
    <arg name="gui" value="$(arg gui)" />
    <arg name="gpu" value="$(arg gpu)" />
    <arg name="INPUT_IMAGE" value="$(arg INPUT_IMAGE)" />
    <arg name="INPUT_DEPTH_IMAGE" value="$(arg INPUT_DEPTH_IMAGE)" />
    <arg name="INPUT_CAMERA_INFO" value="$(arg INPUT_CAMERA_INFO)" />
    <arg name="with_depth" value="$(arg with_depth)" />
  </include>

</launch>
