<launch>
  <node name="cluster_indices_publisher0"
        pkg="rostopic" type="rostopic"
        output="screen"
        args="pub -r 1 -s /cluster_indices_publisher0/output
              jsk_recognition_msgs/ClusterPointIndices
              '{header: {stamp: now, frame_id: map},
                cluster_indices: [{indices: [0, 1, 2]},
                                  {indices: [3, 4, 5]}]}'"/>

  <node name="cluster_indices_publisher1"
        pkg="rostopic" type="rostopic"
        output="screen"
        args="pub -r 1 -s /cluster_indices_publisher1/output
              jsk_recognition_msgs/ClusterPointIndices
              '{header: {stamp: now, frame_id: map},
                cluster_indices: [{indices: [7, 8, 9]},
                                  {indices: [4, 5, 6]}]}'"/>

  <node name="add_cluster_indices"
        pkg="jsk_recognition_utils" type="add_cluster_indices.py"
        output="screen">
    <rosparam>
      topics:
        - /cluster_indices_publisher0/output
        - /cluster_indices_publisher1/output
      approximate_sync: true
      slop: 1.0
    </rosparam>
  </node>
</launch>
