<launch>

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

  <test test-name="test_kalman_filtered_objectdetection_marker"
        name="test_kalman_filtered_objectdetection_marker"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /kalman_filtered_objectdetection_marker/output/object_detection_marker_array
      timeout_0: 30
      topic_1: /kalman_filtered_objectdetection_marker/output/filtered
      timeout_1: 30
      <!-- topic_2: /kalman_filtered_objectdetection_marker/output/outlier -->
      <!-- timeout_2: 30 -->
      topic_3: /kalman_filtered_objectdetection_marker/output/attention_clipper/input/pose
      timeout_3: 30
      topic_4: /kalman_filtered_objectdetection_marker/output/posewithcovstamped
      timeout_4: 30
      topic_5: /kalman_filtered_objectdetection_marker/output/simplecov
      timeout_5: 30
    </rosparam>
  </test>

</launch>
