<launch>

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

  <node name="split_fore_background"
        pkg="jsk_perception" type="split_fore_background.py">
    <remap from="~input" to="depth_image_16uc1/image_depth" />
  </node>

  <!-- test output message come -->
  <test test-name="test_split_fore_background"
        name="test_split_fore_background"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /split_fore_background/output/fg_mask
      timeout_0: 30
      topic_1: /split_fore_background/output/bg_mask
      timeout_1: 30
    </rosparam>
  </test>

</launch>
