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<launch>
<arg name="test_mode" default="false" />
<arg name="gui" default="true" unless="$(arg test_mode)" />
<arg name="gui" default="false" if="$(arg test_mode)" />
<arg name="gpu" default="0" unless="$(arg test_mode)"/>
<arg name="gpu" default="-1" if="$(arg test_mode)" />
<node name="image_publisher"
pkg="jsk_perception" type="image_publisher.py">
<rosparam subst_value="true">
publish_info: false
file_name: $(find jsk_perception)/sample/object_detection_example_1.jpg
</rosparam>
</node>
<node name="ssd_object_detector"
pkg="jsk_perception" type="ssd_object_detector.py"
output="screen">
<remap from="~input" to="image_publisher/output" />
<rosparam subst_value="true">
gpu: $(arg gpu)
</rosparam>
<param name="model_path" value="voc0712" unless="$(arg test_mode)" />
</node>
<node name="image_view" pkg="image_view" type="image_view"
if="$(arg gui)">
<remap from="image" to="ssd_object_detector/output/image" />
</node>
</launch>
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