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

  <!-- Publish target topic -->
  <node name="image_publisher" pkg="rostopic" type="rostopic"
        args="pub -s /head_camera/rgb/image_raw sensor_msgs/Image &quot;{
              'header': {
                'seq': 0,
                'stamp': {'secs': 0, 'nsecs': 0},
                'frame_id': ''
                },
              'height': 0,
              'width': 0,
              'encoding': '',
              'is_bigendian': 0,
              'step': 0,
              'data': ''}&quot;" />

  <!-- Launch target node -->
  <node name="robot_driver" pkg="rostopic" type="rostopic"
        args="pub -s /test std_msgs/Empty {}" />

  <!-- Publish /diagnostics -->
  <node name="sanity_diagnostics" pkg="jsk_tools" type="sanity_diagnostics.py">
    <rosparam command="load" file="$(find jsk_tools)/sample/config/sanity_targets.yaml" />
    <rosparam subst_value="true">
      duration: 10
      pub_duration: 0.3
    </rosparam>
  </node>

  <!-- Publish /diagnostics_agg -->
  <node name="diagnostic_aggregator"
        pkg="diagnostic_aggregator" type="aggregator_node"
        clear_params="true" >
    <rosparam command="load" file="$(find jsk_tools)/sample/config/diagnostics_analyzer.yaml" />
  </node>

  <!-- Visualize diagnostic aggregator -->
  <node if="$(arg gui)"
        name="rqt_robot_monitor" pkg="rqt_robot_monitor" type="rqt_robot_monitor" />

</launch>
