<launch>
  <arg name="gui" default="true"/>

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

  <node name="saliency_map_generator"
        pkg="nodelet" type="nodelet"
        args="standalone jsk_perception/SaliencyMapGenerator">
    <remap from="~input" to="raw_image_bgr/image_color"/>
    <remap from="/saliency_map_generator/output/saliency_map" to="~output"/>
    <rosparam>
      num_threads: 1
      fps: false
    </rosparam>
  </node>

  <group if="$(arg gui)">
    <node name="tile_image"
          pkg="jsk_perception" type="tile_image.py">
      <rosparam>
        input_topics:
          - /raw_image_bgr/image_color
          - /saliency_map_generator/output
      </rosparam>
    </node>

    <node name="image_view"
          pkg="image_view" type="image_view">
      <remap from="image" to="tile_image/output"/>
    </node>
  </group>
</launch>
