<launch>

  <include file="$(find jsk_perception)/sample/sample_fcn_depth_prediction.launch">
    <arg name="gui" value="false" />
    <arg name="gpu" value="-1" />
  </include>

  <test test-name="test_fcn_depth_prediction"
        name="test_fcn_depth_prediction"
        pkg="jsk_tools" type="test_topic_published.py"
        retry="3">
    <rosparam>
      topic_0: /fcn_depth_prediction/output
      timeout_0: 60
      topic_1: /fcn_depth_prediction/output/label
      timeout_1: 60
      topic_2: /fcn_depth_prediction/output/proba_image
      timeout_2: 60
      topic_3: /fcn_depth_prediction/output/depth_pred_raw
      timeout_3: 60
    </rosparam>
  </test>

</launch>
