<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from 64E S2.1 PCAP data. -->

<launch>

  <!-- start nodelet manager and driver nodelets -->
  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
    <arg name="model" value="64E_S2.1"/>
    <arg name="pcap" value="$(find velodyne_pointcloud)/tests/64e_s2.1-300-sztaki.pcap"/>
    <arg name="rpm" value="300"/>
  </include>

  <!-- start transform nodelet using test calibration file -->
  <include file="$(find velodyne_pointcloud)/launch/transform_nodelet.launch">
    <arg name="calibration"
         value="$(find velodyne_pointcloud)/params/64e_s2.1-sztaki.yaml"/>
  </include>

  <!-- verify PointCloud2 publication rate -->
  <test test-name="transform_nodelet_64e_s21_hz_test" pkg="rostest"
        type="hztest" name="hztest_transform_nodelet_64e_s21" >
    <param name="hz" value="5.0" />
    <param name="hzerror" value="1.0" />
    <param name="test_duration" value="5.0" />
    <param name="topic" value="velodyne_points" />
    <param name="wait_time" value="2.0" />
  </test>

</launch>
