in_bin_each_object.launch

<launch>

  <arg name="BIN_NAME" />
  <arg name="INPUT_CLOUD" />


  <include file="$(find jsk_apc2015_common)/launch/kiva_pod_filter.launch">
    <arg name="INPUT_CLOUD" value="$(arg INPUT_CLOUD)" />
    <arg name="OUTPUT_CLOUD" value="$(arg INPUT_CLOUD)_pod_filtered" />
  </include>

  <node name="bin_clipper"
        pkg="nodelet" type="nodelet"
        args="standalone jsk_pcl/AttentionClipper">
    <remap from="~input/points" to="$(arg INPUT_CLOUD)_pod_filtered" />
    <rosparam>
      use_multiple_attention: true
      initial_pos_list: [[-0.21, 0.29, 0.36], [-0.21, 0, 0.36], [-0.21, -0.29, 0.36], [-0.21, 0.29, 0.11], [-0.21, 0, 0.11], [-0.21, -0.29, 0.11]]
      initial_rot_list: [[0,0,0], [0,0,0], [0,0,0], [0,0,0], [0,0,0], [0,0,0]]
      dimensions: [[0.37, 0.25, 0.22],[0.37, 0.29, 0.22],[0.37, 0.25, 0.22], [0.37, 0.25, 0.22],[0.37, 0.29, 0.22],[0.37, 0.25, 0.22]]
      frame_id_list: [kiva_pod_base, kiva_pod_base, kiva_pod_base, kiva_pod_base, kiva_pod_base, kiva_pod_base]
      prefixes: [bin_a, bin_b, bin_c, bin_d, bin_e, bin_f]
    </rosparam>
  </node>

  <node name="bin_$(arg BIN_NAME)_extract_pi"
        pkg="nodelet" type="nodelet"
        args="standalone jsk_pcl/ExtractIndices">
    <remap from="~input" to="$(arg INPUT_CLOUD)_pod_filtered" />
    <remap from="~indices" to="bin_clipper/bin_$(arg BIN_NAME)/point_indices" />
    <rosparam>
      keep_organized: true
    </rosparam>
  </node>

  <node name="bin_$(arg BIN_NAME)_euclid_clustering"
        pkg="nodelet" type="nodelet"
        args="standalone jsk_pcl/EuclideanClustering">
    <remap from="~input" to="bin_$(arg BIN_NAME)_extract_pi/output" />
    <rosparam>
      max_size: 100000
    </rosparam>
  </node>

  <node name="bin_$(arg BIN_NAME)_cpi_decomposer"
        pkg="nodelet" type="nodelet"
        args="standalone jsk_pcl/ClusterPointIndicesDecomposer">
    <remap from="~input" to="bin_$(arg BIN_NAME)_extract_pi/output" />
    <remap from="~target" to="bin_$(arg BIN_NAME)_euclid_clustering/output" />
  </node>

</launch>