<launch>

  <param name="/use_sim_time" value="true" />
  <arg name="use_japanese_label" default="false" />

  <group if="$(arg use_japanese_label)" >
    <node name="rosbag_play"
          pkg="rosbag" type="play"
          args="$(find jsk_perception)/sample/data/sample_mask_rcnn_73b2_kitchen_japanese_label.bag --clock --loop">
    </node>
  </group>

  <group unless="$(arg use_japanese_label)" >
    <node name="rosbag_play"
          pkg="rosbag" type="play"
          args="$(find jsk_perception)/sample/data/sample_mask_rcnn_73b2_kitchen.bag --clock --loop">
    </node>
  </group>

  <group ns="/image_publisher">
    <node name="republish"
          pkg="image_transport" type="republish"
          args="compressed raw">
      <remap from="in" to="output" />
      <remap from="out" to="output" />
    </node>
  </group>
  <group ns="/mask_rcnn_73b2_kitchen/output">
    <node name="republish"
          pkg="image_transport" type="republish"
          args="compressed raw">
      <remap from="in" to="viz" />
      <remap from="out" to="viz" />
    </node>
  </group>

</launch>
