<?xml version="1.0" encoding="utf-8"?>
<launch>
  <include file="$(find jsk_perception)/sample/sample_remove_blurred_frames.launch">
    <arg name="gui" value="false" />
  </include>

  <test test-name="test_remove_blurred_frames"
        name="test_remove_blurred_frames"
        pkg="jsk_tools" type="test_topic_published.py"
        time-limit="20" retry="3">
    <rosparam>
      topic_0: /head_camera/rgb/image_rect_color/blurred_frames_removed
      timeout_0: 20
      topic_1: /head_camera/rgb/image_rect_color/laplacian_mask
      timeout_1: 20
      topic_2: /head_camera/rgb/image_rect_color/laplacian_var
      timeout_2: 20
      check_after_kill_node: true
      node_names: [remove_blurred_frames,]
    </rosparam>
  </test>

</launch>
