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

<launch>

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

  <!-- verify PointCloud2 publication rate -->
  <test test-name="transform_nodelet_vlp16_hz_test" pkg="rostest"
        type="hztest" name="hztest_transform_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_points" />
    <param name="wait_time" value="2.0" />
  </test>

</launch>
