<launch>

  <node name="rosbag_play"
        pkg="rosbag" type="play"
        args="$(find jsk_perception)/test_data/2016-04-06-08-16-08_img_cpi_decomposer/vision.bag --clock --loop" />

  <node name="image_cluster_indices_decomposer"
        pkg="jsk_perception" type="image_cluster_indices_decomposer.py">
    <remap from="~input" to="/kinect2_head/hd/image_color" />
    <remap from="~input/cluster_indices" to="/bin_f_euclid_clustering/output" />
  </node>

  <node name="image_view"
        pkg="image_view" type="image_view">
    <remap from="image" to="image_cluster_indices_decomposer/output" />
  </node>

</launch>
