<!-- -*- mode: XML -*- -->
<!-- rostest of the velodyne_laserscan system -->

<launch>

  <!-- Select log or screen output -->
  <arg name="output" default="log"/> <!-- screen/log -->

  <!-- Start the laserscan nodelet -->
  <arg name="manager" default="nodelet_manager" />
  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" />
  <node pkg="nodelet" type="nodelet" name="velodyne_laserscan" output="$(arg output)"
        args="load velodyne_laserscan/LaserScanNodelet $(arg manager)">
  </node>

  <!-- Start the rostest -->
  <test test-name="test_system_nodelet" pkg="velodyne_laserscan"
        type="test_system_nodelet" name="test_system">
  </test>

</launch>
