<launch>

  <include file="$(find jsk_perception)/sample/sample_mask_rcnn_instance_segmentation.launch">
    <arg name="gui" value="false"/>
    <arg name="gpu" value="-1"/>
  </include>

  <test test-name="test_mask_rcnn_instance_segmentation"
        name="test_mask_rcnn_instance_segmentation"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /mask_rcnn_instance_segmentation/output/class
      timeout_0: 60
      topic_1: /mask_rcnn_instance_segmentation/output/cluster_indices
      timeout_1: 60
      topic_2: /mask_rcnn_instance_segmentation/output/label_cls
      timeout_2: 60
      topic_3: /mask_rcnn_instance_segmentation/output/label_ins
      timeout_3: 60
      topic_4: /mask_rcnn_instance_segmentation/output/labels
      timeout_4: 60
      topic_5: /mask_rcnn_instance_segmentation/output/rects
      timeout_5: 60
      topic_6: /mask_rcnn_instance_segmentation/output/viz
      timeout_6: 60
    </rosparam>
  </test>

</launch>
