<launch>

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

  <param name="/use_sim_time" value="true" />
  <node name="rosbag_play"
        pkg="rosbag" type="play"
        args="$(find jsk_perception)/sample/data/2016-11-11-12-53-06_in_lab.bag --clock --loop" />

  <node name="colorize_float_image"
        pkg="jsk_perception" type="colorize_float_image">
    <remap from="~input" to="/camera/depth_registered/image_raw" />
  </node>

  <group if="$(arg gui)">
    <node name="image_view"
          pkg="image_view" type="image_view">
      <remap from="image" to="/colorize_float_image/output" />
    </node>
  </group>

</launch>
