<launch>
  <arg name="gui" default="true" />

  <node name="raw_image_bgr"
        pkg="jsk_perception" type="image_publisher.py">
    <remap from="~output" to="~image_color" />
    <remap from="~output/camera_info" to="~camera_info" />
    <rosparam subst_value="true">
      file_name: $(find jsk_perception)/sample/image/items_in_shelf.jpg
      encoding: bgr8
      publish_info: true
      fovx: 84.1
      fovy: 53.8
    </rosparam>
  </node>

  <node name="nodelet_manager"
        pkg="nodelet" type="nodelet"
        args="manager" output="screen"/>

  <node name="imagesift"
        pkg="nodelet" type="nodelet"
        args="load imagesift/ImageSift nodelet_manager">
    <remap from="image" to="/raw_image_bgr/image_color"/>
    <remap from="camera_info" to="/raw_image_bgr/camera_info" />
  </node>

  <node name="point_pose_extractor"
        pkg="nodelet" type="nodelet"
        args="load jsk_perception/PointPoseExtractor nodelet_manager"
        respawn="false" output="screen" required="true" >
    <rosparam subst_value="true">
      template_filename: $(find jsk_perception)/sample/image/pai_no_mi.jpg
      template_id: 0
      object_width: 0.145
      object_height: 0.128
      viewer_window: $(arg gui)
    </rosparam>
  </node>
</launch>
