<launch>

  <node name="image_publisher"
        pkg="jsk_perception" type="image_publisher.py">
    <param name="file_name" value="$(find jsk_perception)/sample/oreo_mega_stuf.jpg" />
    <rosparam>
      publish_info: false
    </rosparam>
  </node>

  <node name="kmeans"
        pkg="nodelet" type="nodelet"
        args="standalone jsk_perception/KMeans">
    <remap from="~input" to="image_publisher/output" />
  </node>

  <test test-name="test_kmeans"
        name="test_kmeans"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /kmeans/output
      timeout_0: 30
    </rosparam>
  </test>

</launch>
