<launch>

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

  <test test-name="test_grabcut"
        name="test_grabcut"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /grabcut/output/foreground
      timeout_0: 30
      topic_1: /grabcut/output/background
      timeout_1: 30
      topic_2: /grabcut/output/foreground_mask
      timeout_2: 30
      topic_3: /grabcut/output/background_mask
      timeout_3: 30
      check_after_kill_node: true
      node_names: [grabcut,]
    </rosparam>
  </test>

</launch>
