<launch>

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

  <test test-name="test_ycc_decomposer"
        name="test_ycc_decomposer"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /ycc_decomposer/output/y
      timeout_0: 30
      topic_1: /ycc_decomposer/output/cr
      timeout_1: 30
      topic_2: /ycc_decomposer/output/cb
      timeout_2: 30
    </rosparam>
  </test>

</launch>
