<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from VLP16 PCAP data. -->

<launch>

  <!-- start nodelet manager, driver and transform nodelets -->
  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
    <arg name="model" value="VLP16"/>
    <arg name="pcap" value="$(find velodyne_driver)/tests/vlp16.pcap"/>
  </include>

  <!-- verify PointCloud publication rate -->
  <test test-name="pcap_vlp16_nodelet_hertz_test" pkg="rostest"
        type="hztest" name="hztest_packets_nodelet_vlp16" >
    <param name="hz" value="10.0" />
    <param name="hzerror" value="3.0" />
    <param name="test_duration" value="5.0" />    
    <param name="topic" value="velodyne_packets" />  
    <param name="wait_time" value="2.0" />  
  </test>

  <test test-name="nodelet_diagnostics_test"
        pkg="rostest" type="hztest" name="hztest_diag_nodelet_vlp16" >
    <param name="hz" value="1.0" />
    <param name="hzerror" value="0.5" />
    <param name="test_duration" value="5.0" />    
    <param name="topic" value="diagnostics" />  
    <param name="wait_time" value="2.0" />  
  </test>

</launch>
