<launch>

  <arg name="gui" default="true" />

  <node name="mask_publisher"
        pkg="jsk_perception" type="image_publisher.py">
    <rosparam subst_value="true">
      file_name: $(find jsk_perception)/sample/image/mask0000.jpg
      encoding: mono8
      publish_info: false
    </rosparam>
  </node>
  <arg name="MASK_IMAGE" default="mask_publisher/output" />

  <node name="bounding_object_mask_image"
        pkg="jsk_perception" type="bounding_object_mask_image">
    <remap from="~input" to="$(arg MASK_IMAGE)" />
  </node>

  <group if="$(arg gui)">
    <node name="image_view0"
          pkg="image_view" type="image_view">
      <remap from="image" to="$(arg MASK_IMAGE)" />
    </node>
    <node name="image_view1"
          pkg="image_view" type="image_view">
      <remap from="image" to="bounding_object_mask_image/output" />
    </node>
  </group>

</launch>
