<launch>
  <node name="sparse_image_encoder"
        pkg="jsk_perception" type="sparse_image_encoder">
    <remap from="image" to="/test_edge_image"/>
    <remap from="sparse_image" to="sparse_image"/>
  </node>
  <node name="sparse_image_decoder"
        pkg="jsk_perception" type="sparse_image_decoder">
    <remap from="sparse_image" to="sparse_image"/>
  </node>
  <test test-name="sparse_image_test"
        pkg="jsk_perception" type="test_sparse_image.py"
        name="test_sparse_image" />
</launch>
