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

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

  <node name="kalman_filtered_objectdetection_marker"
        pkg="jsk_perception" type="kalman-filtered-objectdetection-marker.l">
    <!-- input -->
    <remap from="input/ObjectDetection" to="checkerboard_detector/output/ObjectDetection"/>
    <!-- output -->
    <remap from="object_detection_marker_array" to="~output/object_detection_marker_array"/>
    <remap from="filtered" to="~output/filtered"/>
    <remap from="outlier" to="~output/outlier"/>
    <remap from="attention_clipper/input/pose" to="~output/attention_clipper/input/pose"/>
    <remap from="posewithcovstamped" to="~output/posewithcovstamped"/>
    <remap from="simplecov" to="~output/simplecov"/>
  </node>

  <group if="$(arg gui)">
    <node name="rviz"
          pkg="rviz" type="rviz"
          args="-d $(find jsk_perception)/sample/config/sample_kalman_filtered_objectdetection_marker.rviz"/>
  </group>
</launch>
