<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne 32E PCAP files -->

<launch>

  <!-- start driver with example PCAP file -->
  <node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
    <param name="model" value="32E"/>
    <param name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
  </node>

  <!-- start transform node with test calibration file -->
  <node pkg="velodyne_pointcloud" type="transform_node" name="transform_node">
    <param name="calibration"
           value="$(find velodyne_pointcloud)/params/32db.yaml"/>
  </node>

  <!-- verify PointCloud2 publication rate -->
  <test test-name="transform_node_32e_hz_test" pkg="rostest"
        type="hztest" name="hztest_transform_node_32e" >
    <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>
