<launch>

  <include file="$(find jsk_perception)/sample/sample_craft_node.launch">
    <arg name="gui" value="false"/>
    <arg name="gpu" value="-1"/>
  </include>

  <test test-name="test_craft_node"
        name="test_craft_node"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /craft_node/output/cluster_indices
      timeout_0: 60
      topic_1: /craft_node/output/rects
      timeout_1: 60
      topic_2: /craft_node/output/polygons
      timeout_2: 60
    </rosparam>
  </test>

</launch>
