<!-- -*- mode: XML -*- -->
<!-- rostest of publishing using two different nodelet managers. -->

<launch>

  <!-- use separate namespaces for each device and its nodelet manager -->

  <group ns="hdl32e">

    <!-- start nodelet manager, driver and transform nodelets -->
    <include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
      <arg name="frame_id" value="hdl32e"/>
      <arg name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
    </include>

    <!-- verify PointCloud2 publication rate -->
    <test test-name="multi_nodelet_32e_test" pkg="rostest"
          type="hztest" name="hztest_multi_nodelet_32e" >
      <param name="hz" value="10.0" />
      <param name="hzerror" value="3.0" />
      <param name="test_duration" value="5.0" />
      <param name="topic" value="/hdl32e/velodyne_points" />
      <param name="wait_time" value="2.0" />
    </test>

  </group>

  <group ns="vlp16">

    <!-- start nodelet manager, driver and transform nodelets -->
    <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
      <arg name="frame_id" value="vlp16"/>
      <arg name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
    </include>

    <!-- verify PointCloud2 publication rate -->
    <test test-name="multi_nodelet_vlp16_test" pkg="rostest"
          type="hztest" name="hztest_multi_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="/vlp16/velodyne_points" />
      <param name="wait_time" value="2.0" />
    </test>

  </group>

</launch>
