<launch>

  <include file="$(find jsk_perception)/sample/sample_lab_decomposer.launch">
    <arg name="gui" value="false" />
  </include>

  <test test-name="test_lab_decomposer"
        name="test_lab_decomposer"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /lab_decomposer/output/l
      timeout_0: 30
      topic_1: /lab_decomposer/output/a
      timeout_1: 30
      topic_2: /lab_decomposer/output/b
      timeout_2: 30
    </rosparam>
  </test>

</launch>
