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

  <test test-name="test_ssd_object_detector"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3" time-limit="120" >
    <rosparam>
      topic_0: /ssd_object_detector/output/image
      timeout_0: 120
      topic_1: /ssd_object_detector/output/class
      timeout_1: 120
      topic_2: /ssd_object_detector/output/rect
      timeout_2: 120
      topic_3: /ssd_object_detector/output/cluster_indices
      timeout_3: 120
      topic_4: /ssd_object_detector/output/labels
      timeout_4: 120
    </rosparam>
  </test>

</launch>
